It's different for every person and every family, of course. My family was always very prudish. My best friend growing up grew up where everyone in his family was seen naked at least daily. Not uncomfortable of unusual for them at all, and certainly not sexual.
My wife and I used to travel a lot with her family and share hotel rooms. Her mother and I would change in front of everyone (usually just 4 or 5 people, but sometimes 10 or 11) and be naked for a brief time and just not care on those trips. 10 years later, and now her mom will be naked around me, but not anyone else.
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