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
They are exactly two sides of the same coin. We just think it's different because we're indoctrinated into thinking so. Just like people in Islamic countries think the question of whether a woman wears a hijab is way different from whether she wears, say, gloves.
They both were rooted in xenophobia since historically many cultures did not share the same norms around covering body parts as western people did. However, our ethical and fashion norms have been so widely imposed by colonialism that there's hardly any cultures left who do things differently.
If you read older texts you can see how Europeans saw such cultures. They were widely regarded as animalistic savages. And to the extent that some few indigenous groups still practice their own traditions around body adornment, many people still view them that way today.