I am one of three girls, my mum has never stopped being naked around us, my Dad must have stopped at some point, possibly when I ~(the eldest) hit puberty, I don't remember, I still occasionally see him in his undies or running from the toilet to his room in the night with just his hand over his bits. Us girls just started naturally covering up at the start of puberty. I still remember my sister having to be told that maybe my boyfriend didn't want her to be sat with no knickers on and her legs wide apart in front of him when she was about 8 or 9!
I think we will probably be the same with our kids.
I am famed amongst my friends for being super comfortable with my body, I cover up on a day to day basis, but have never been shy about things like going to the loo, getting changed, breastfeeding and so on. I'm also quite proud of the way my body has changed as I have had children and aged, I think because I have worked in care homes, so have seen all sizes and shapes of people.
Not wanting to sound too hippyish, but naked people are always beautiful, what could be more beautiful than the naked human form? (obviously there is an exception if they are doing something ugly, but just stood there is always lovely, maybe not sexy or pretty, but beautiful)