Both extremes as well as anything in between ALL falls within "normal". Every family is different, every background is different, etc. The families you would think have the most privacy are the ones who run around naked, and the families you would think run around naked are the ones with utmost privacy!
We had a Catholic family being us growing up. My sister stayed there a few times and they all just walked around in underwear, half naked, fully naked between showers, etc. They had 8 people in the family living there with only three bedrooms and one bathroom. Privacy was scoffed at, I think.
My best friend through college was a quasi-nudist. His family lived on a lake, and clothing was very optional. His mom and 19yo sister were topless outside way more than having a top on.
My wife's family was mixed. My wife and her siblings were very conservative, hardly even seeing each other in pjs, but her mother was naked most of the time, often topless, and at the very least she never, ever wore a bra. And my wife's family is super religious alt-right, too, except my wife.
My cousins come from large families, and they would stay at our house and would even shower together to save time. Zero sexual; zero weird. Just saving time when 10 people needed to take a shower and get ready. I remember when my cousin and I were 18 (same birthday, even) and she took off her shirt, her bra, and put on pjs in front of me. She was so confused that I stared and froze in place--she had done the same thing in front of other family members her entire life and couldn't understand my reaction. Sadly, she was much more careful around me after that.
I used to be envious of families that were much more relaxed about nudist. I have always been a "closet nudist" until recently, and if I even saw my sister's brastrap, my mother lost her mind. One day my sister's nipples were poking through her pjs and my mom lost her mind and made my sister sleep in a bra under her pjs. My sister to this day still sleeps in a bra, and she is 45yo.
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