My experience was that my mom was naked around us growing up… not hanging out naked but certainly comfortable enough to converse with us while she dressed, etc. The sexualization of women's bodies is a real problem in the U. I think our culture has an unhealthy connection between nudity and sex. Just something to think about. That way she got closer to me.
Men get visually aroused.
I have a house full of sons and I'm ok with them seeing me naked
And I bet when you're old and he's the one who has to take care of you, maybe help you out of the tub, you'll be glad that the nudity issue isn't one you need to "get over" between the two of you. My children are of a literal world, so I have the double duty of explaining why people do things, and why it is or is not okay to do things. They were thrilled to be part of it and we look forward to doing it again this year. I had always wanted to live that way… I have friends who do and really enjoy it! I grew up being naked in front of my mother in various circumstances.