Being naked is not being sexual.
When I am naked around my children there is nothing sexual about it.
My children don't see me as a sexual being I am simply their Mummy regardless if I have clothes on or not.
It barely registers with them.
They show no embarrassment in finding me naked and I show no embarrassment in being found naked.
They are happy enough to parade around the house naked with each other and in front of me until I bellow at them that they will catch their deaths.
They also know that it is not OK to go about naked outside.
They have learnt that being naked is acceptable in some settings and not in others.