Nudity is only as much as you make of it. I have been naked around 50% of my girlfriends before, and naked many times amongst complete strangers. There was also the whole getting-born thing, and one day when I have kids, my vagina will be like a public lawn, so... A naked body is a thing, your thing or anyone else's. Why be ashamed or a coward about it?
PS: Most of the time, when I'm naked around others, it's at a nudist friendly place, so, go figure.