I'm curious to know if there's any possible rational way to create stable rules, expect just allowing nudity, about this subject without having anyone rightfully complaining that they should be allowed to dress their own body however they want to.
Some countries already have a culture of nudist beaches for exemple, so it's already happening in some places. https://en.wikipedia.org/wiki/List_of_places_where_social_nudity_is_practised
Nope. Whether nudity is acceptable and whether clothing I don't like is acceptable are two different questions, not two sides of the same coin. In particular the latter seems to be always rooted in xenophobia, which makes it more or less independent of how one feels about the former.