I agree with your wife, in our culture nudity is viewed as sexual, let the girls make up their minds on their own. Mom doesn't have to hide from them, but respect their right not to see her nude if they don't want to. I used to avoid going to a friend's house because his mom would frequently walk around the house partially dressed. I know it embarrassed him also.
It would have made me uncomfortable if my daughter had walked around the house topless or in see thru clothes.
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