My oldest dd is nearly 10 and showing signs puberty is just starting - a bit of swelling around her nipples and a couple of v fine pubic hairs.
Whilst she is v shy changing at school and out and about, she is completely open at home and comfortable walking around naked. She sees nothing wrong with cuddling dh or sitting on his lap when she's undressed.
Dh is starting to feel a bit uncomfortable but dd hasn't picked up on it. So I do encourage her to have a bit of modesty now or will she just develop it in her own time?