There are only 3 kinds of people that have no need to be embarrassed about being naked.
Patients
Porn stars
The dead
Discussion
Nude models
Newborn babies
Us, under our clothes
And Bobby Lee. He used to get naked a LOT
If you did not compare yourself to other humans, you would have no reason to believe you are not perfect.
Is it the being naked that causes the embarrassment or what you do when you're naked?