my 8yo would probably love to snuggle up with my boobs, my 15yo would not.
nudity is no big deal to me, but my kids are much more modest. ds1 and i have not been naked around each other in YEARS. ds2 says he doesnt want to be seen unclothed but he puts his dirty clothes in the hamper in my room and then runs across the house to his bathroom to shower. if he really cared, he'd get undressed in the bathroom and then put on clean clothes and then go put his dirty stuff away.
also, i sleep naked, and if ds2 wakes up from a bad dream, he come into my bed. he could care less about me being naked, but if i sense him getting in the bed, i reach down to the floor and pull on some clothes. i'm not uncomfortable myself, but i just know ds will say something to my ex and that will start something i dont really need to deal with in my already hectic life, yk?