I think total nudity is a bit of an outlier, TBF.
There is a split among LGBTQ people that I know, with some feeling that Pride was always about shocking the status quo and fetish is a legit part of the overall scene and those who say, as have some people on this thread, that Pride was all about showing that gay people were like everyone else. I think the fact is it's been both of those to different people.
I don't think it's at all the case that the children came and OMG now, suddenly,. there's all these pervs turning up who were never there before; it's more the 'pervs' were always there and then the kids started turning up as same-sex parents became much more common (I was at Pride 30 years ago so I know what it was like then).
People just didn't note it as much as generally it wasn't an event for kids. I recognise that does create a tension now, but I also don't think we can just say 'Sorry, everyone kinky has to put it away now' because that's a big part of the scene and identity for quite a lot of people. Maybe organisers need to declare 'adult' and 'family' parts of the march and if people are going to watch they need to know there may be some sexual stuff on display?
FWIW, I think if kids see someone who likes to dress up as a dog or a pony or whatever, if they ask anything you can just say 'Those people like to dress up for fun' - that's it. You don't have to explain BDSM to them! They're really not going to want to know more than that and it doesn't have to 'destroy their innocence'