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
Yes...simply order excretory end points to be covered sufficiently enough prevent direct contact between them and public surfaces/ other people. Cover the health concerns of it and just let the prudes stew in the anger that they so yearn for.