In the present society, there's a certain discomfort associated with nudity. And the reason for the discomfort is obviously not just the untimely and unwelcome sexual arousal it might lead to.
If we go back in history long enough, we will reach an era where this was not the case. For example, when clothes weren't even invented, of course nudity was completely normal.
Somewhere in the middle, this transition happened. When exactly did nudity become uncomfortable and why?
Clothes were invented for the practical reason of protecting oneself from severe weather. But then people with more resources started wearing more and more sophisticated clothes until it become a means of signalling high status. Thus no clothes started being associated with very low status and hence the discomfort.