Interesting question, and a poignant one.
Tribes in the rainforests do go around pretty much naked, and believe it or not, at least up until the 60s couples had sex in the same hut with their children witnessing the act, or at least that's what Jean Leadloff reports in her grandiose book The Continuum Concept.
And I have the impression they are much better parents than what I have been until now, too.
I don't think that rainforest mothers who go around naked and do the horizontal dance with the fathers of their children in front of those same children, also do tribal sexy dances for other random men to watch, and that was exactly my point.
But I will happily go around naked in my own house and my son doesn't even flinch, the body itself is no reason for shame.