My husband made a comment once that I look the same dressed and undressed, nothing hiding, good or bad. I guess anyone who sees me in clothes would not be surprised by how I look, and I did grow up around swimmers, dancers, did some modeling, you get used to it. I am pretty comfortable naked.
My kids come in when I am getting ready for work (I don't put on clothes until my hair and skincare, sunscreen, etc. are done) and they don't care if I don't have clothes on. My mom and dad were the same way. It doesn't work in the other direction - I didn't like being not dressed around my mom and my kids do not, it's a one way comfortable and I guess they will be the same with their kids.
I don't have friends I, like, hang out naked with but would not be bothered changing in front of them.
Online I don't want any images of me, dressed or not, though it's unavoidable at this point, I do try. Not out of modesty though.