Yeah exactly, I would never ever want to cook naked.

Or try to get into a hot car. Or go hiking (poison ivy). Or go outside at all (mosquitos). Or open a fridge (it's just cold :().

On absolutely no proof, I feel like clothing probably evolved as more of a protective measure than a privacy thing at first, regardless of the Abrahamic stories. Shit gets too hot, or too cold, or otherwise too exposed to the elements.