there is nothing wrong or implicitily sexual about a child's body...it is our own thoughts and perceptions that are projected onto bodies that create all of the wrongness and over-sexualization of a naked body (this includes both adults and kids) (imho).
we spend a lot of time at home...this is their home just as much as it is my home. i want to wear what i am comfortable in...sometimes that is a dress with no panties on under, sometimes it is panties and a tank top, sometimes it is nothing at all. i want my kids to be completely comfortable in their own home. we have one who has some sensory stuff going on (actually both of them...and one with allergies to boot), and so they both like to be naked quite a bit. i do not *require* that they wear anything, but i do encourage them to put on undies if they are going to be sitting on the ground playing with dirt. i suppose if we had running water this would not be that big of an issue, because they could immediately hop in the tub. but, even if, after listening to my concerns, they choose to be naked outside, i don't have a problem with that. i enjoy my naked time outside, especially when the wind is blowing or it is raining. anyway...i would help them find ways to have fun and feel comfortable, and to clean up when they were done.
i do not find that my kids' privates or mine or dh's for that matter are 'dirty'...unless i know ds pooped and didn't wipe well, in which case i would help him clean up anyway. however, i would be compeletely comfortable sitting on my couch in the nude, right next to my children with no clothes on. i would be sad to think that in some way i shamed my kids into thinking their bodies (especially the parts that create new life - and when they are grown ups bring pleasure to themselves and their partner) were 'dirty'.
it's funny to me, that the more and more overtly sexual pop culture becomes, the more and more conservative parents seem to become about their children's nudity.......or is it the other way around? hmmmm......
my answer to your question is this....
you feel one way. dh feels another. have you asked your child what she thinks? have you expressed your feelings (each of you, honestly...i'm not talking about the whole 'united front' thing...i mean *your* feelings and *dh's* feelings), and then found out your dd's feelings, and then just see what happens?
for instance..."dd, i feel okay about you going out in the yard with no shirt on. daddy is not so comfortable with it, however. how do you feel about it?" she might ask daddy 'why' he is uncomfortable with it, and i think that would give him a great opportunity to explore his reasons, and also to be completely honest with his daughter...building lines of open communication and trust. then find a way for her to go outside where everyone feels comfy...perhaps naked, perhaps with undies and an under shirt, perhaps with a loose cotton dress with nothing on under, maybe you could get her a sarong (dd loves these), there are many different avenues to explore. please be sure that you are all open and honest.
i think going along with someone else's opinion just to be 'consistent' is quite a detrimental lesson for my children. i will never agree with dh just so the kids think we are on the same page....i might express my feelings, i might empathize with dh and make sure he feels heard and validated, i might work out a way that we can all feel comfortable, and i will also end up agreeing to disagree. i don't expect that he shares my values and beliefs, just like i don't want him to expect that mine will be the same as his. what i do hope is that we can both respect each other's opinions and find mutually agreeable solutions.
by the way...the older my kids get, the more modesty kicks in...i didn't have to teach them this. they are learning where their own boundaries are. they are also aware that other people may have different boundaries. just because we walk around naked in our house, does not mean they automatically strip down when we're out in public. when they were younger and did try this, i simply explained how different people have different comfort levels, and it is important to consider people's feelings and concerns when out in public. my children have understood this from the age of two, and we haven't had any issues with it.