The very first words the LORD uttered to the lifeform creatures He called "man" [human?] as recorded in the Old-Testament book of Genesis in The HOLY BIBLE were a command to do reproduction, and thus by implication: to preferably "do" and not merely "have" naked (or at least naked-enough) sex:

Gen 1:27 So God created man in his own image, in the image of God he created him; male and female he created them.
Gen 1:28 And God blessed them, and God said to them, "Be fruitful and multiply, and fill the earth and subdue it; and have dominion over the fish of the sea and over the birds of the air and over every living thing that moves upon the earth."
Gen 2:24 Therefore a man leaves his father and his mother and cleaves to his wife, and they become one flesh.
Gen 2:25 And the man and his wife were both naked, and were not ashamed.

The LORD's plan has not changed: the command to reproduce by having nude (or at least, nude enough) sex . . . not for demonically-publicized "zero population growth" . . . but instead for re-population of the human species so as to not allow extinction - is yet in effect:

Song 2:13 The fig tree puts forth its figs, and the vines are in blossom; they give forth fragrance. Arise, my love, my fair one, and come away.
Song 2:14 Oh my dove, in the clefts of the rock, in the covert of the cliff, let me see your face, let me hear your voice, for your voice is sweet, and your face is attractive [not the voice nor face of some feminist-sexist news anchor or reporter competing against male broadcasters].
Song 2:15 Catch us the [whoring and exhibitionist] foxes, the little foxes, that spoil the vineyards, for our [marriage-only body-parts-displayable] vineyards are in blossom."
Song 2:16 My beloved is mine and I am his, he pastures his flock among the lilies.

Song 7:1 How graceful are your footsteps (NOT "feet"] in sandals, royal maiden! Your rounded thighs are like jewels, the work of a master hand.
Song 7:2 Your navel is a rounded bowl that never lacks mixed wine. Your belly is a heap of wheat, encircled with lilies.
Song 7:3 Your two breasts are like two fawns, twins of a gazelle.
Song 7:4 Your neck is like an ivory tower. Your eyes are pools in Heshbon, by the gate of Bathrabbim. Your nose is like a tower of Lebanon, overlooking Damascus.
Song 7:5 Your head crowns you like Carmel, and your [loose-long-haired] flowing locks are like purple; a king is held captive in the [mopheaded] tresses.
Song 7:6 How fair and pleasant you are, loved one, delectable maiden!
Song 7:7 You are stately as a palm tree, and your breasts are like its clusters.
Song 7:8 I say I will climb the palm tree and lay hold of its branches. Oh, may your breasts [for starters] be like clusters of the vine, and the scent of your breath like apples,
Song 7:9 and your kisses like the best wine that goes down smoothly, gliding over lips and teeth.
Song 7:10 I am my beloved's, and his desire is for me [so this is not fornicative nor adulterous masseuse-escort harlotry].
Song 7:11 Come, my beloved, let us go forth into the fields, and lodge in the villages ["take it home" to have sex in secret out of public view];
Song 7:12 let us go out early to the vineyards, and see whether the vines have budded, whether the grape blossoms have opened and the pomegranates are in bloom [whether your erotically-appealing body parts have developed]. There I will give you my love.
Song 7:13 The mandrakes give forth fragrance, and over our doors are all choice [nude body parts and related] fruits, new as well as old, which I have laid up for you, my beloved.

However, after the first humans (i.e. "Adam" and "Eve" as stated in the Bible) sinned, the need and necessity for usually wearing clothes was lamentably imposed but understandably established, first by the humans themselves, and then even more so by the LORD.

Gen 2:6 So when the woman saw that the tree was good for food, and that it was a delight to the eyes, and that the tree was to be desired to make one wise, she took of its fruit and ate; and she also gave some to her husband, and he ate.
Gen 2:7 Then the eyes of both were opened, and they knew that they were naked; and they sewed fig leaves together and made themselves aprons.
Gen 2:8 And they heard the sound of the LORD God walking in the garden in the cool of the day, and the man and his wife hid themselves from the presence of the LORD God among the trees of the garden.
Gen 2:9 But the LORD God called to the man, and said to him, "Where are you?" [hide-and-seek? - as if the omniscient God did not know?]
Gen 2:10 And he said, "I heard the sound of you in the garden, and I was afraid, because I was naked; and I hid myself."
Gen 2:11 He said, "Who told you that you were naked? Have you eaten of the tree of which I commanded you not to eat?"
Gen 2:12 The man said, "The woman whom thou gave to be with me, she gave me fruit of the tree, and I ate."
Gen 2:13 Then the LORD God said to the woman, "What is this that you have done?" The woman said, "The serpent beguiled me, and I ate."
Gen 2:14 The LORD God said to the serpent, "Because you have done this, cursed are you above all cattle, and above all wild animals; upon your belly you shall go, and dust you shall eat all the days of your life.
Gen 2:15 I will put enmity between you and the woman, and between your seed and her seed; he shall bruise your head, and you shall bruise his heel."
Gen 2:16 To the woman he said, "I will greatly multiply your pain in childbearing; in pain you shall bring forth children, yet your desire shall be for your husband, and he shall rule over you."
Gen 2:17 And to Adam he said, "Because you have listened to the voice of your wife, and have eaten of the tree of which I commanded you, 'You shall not eat of it,' cursed is the ground because of you; in labor you shall eat of it all the days of your life;
Gen 2:18 thorns and thistles it shall bring forth to you; and you shall eat the plants of the field.
Gen 2:19 In the sweat of your face you shall eat bread till you return to the ground, for out of it you were taken; you are dust, and to dust you shall return."
Gen 2:20 The man called his wife's name Eve, because she was the mother of all living.
Gen 2:21 And the LORD God made for Adam and for his wife garments of skins (sorry, you animal worshippers], and clothed them.

The consistent proper wearing of decent clothes ever since the sinful fall of our primal ancestors Adam and Eve does four important things:

(1) It increases human sensitivity to and sensuous appreciation for even the slightest displays of increasing degrees of human nudity when those parts of human nudity are exposed

(2) It fine-tunes honorable, righteous, and respectably-legal expressions of various types of human sexual-connection positionings and behaviors, partnerships, and associations into legitimate man-with-woman permanent marriage relationships.

(3) It prevent recurrent shame and guilt (plus preoccupation with such) of [personal] internal and [other-people] external effects of being seen naked by others in general public view, and

(4) It is a safeguard against experiencing the conflict and confusion of disparity between legitimate exhibitionism of partial or complete nudity (as when in private with one's spouse in marriage) in stark contrast to illegitimate exhibitionism of partial or complete nudity in general public view.

Such restricted, apportioned, limited, discreet and discretionary allowance and disallowance of nudity display is not unreasonable:

Gasoline secretly sipped by hidden carburetors inside car engines has very positive and helpful effects, but gasoline dispersed and set afire by a thrown and broken burning Molotov-cocktail bottle has very damaging effects. So it is with proper and improper display of human nudity.

Such civilized appreciation of the finer shades of erotic exhibitionism are not found in the primitive and uncivilized tribes of, for example, certain Amazon/Brazillian tribes of South America (as for instance broadcast on the cable-TV Travel Channel and pictured in National Geographic magazines) were they roam around as nudist-colony nomads, perhaps deliberately ignorant (over time) of modesty directives the Lord in the Spirit gave to his Bible authors:

Lev 20:17 If a man takes his sister, a daughter of his father or a daughter of his mother, and sees her nakedness, and she sees his nakedness, it is a shameful thing, and they shall be cut off in the sight of the children of their people; he has uncovered his sister's nakedness, he shall bear his iniquity.

Isa 20:4 . . . so shall the king of Assyria lead away the Egyptians captives and the Ethiopians exiles, both the young and the old, naked and barefoot, with buttocks uncovered, to the shame of Egypt.

Isa 47:1 Come down and sit in the dust, virgin daughter of Babylon; sit on the ground without a throne, daughter of the Chaldeans! For you shall no more be called tender and delicate.
Isa 47:2 Take the millstones and grind meal, put off your veil, strip off your robe, uncover your legs, pass through the rivers.
Isa 47:3 Your nakedness shall be uncovered, and your shame shall be seen. I will take vengeance, and I will spare no human.

Isa 57:8 Behind the door and the doorpost you have set up your symbol; for, deserting me, you have uncovered your bed, you have gone up to it, you have made it wide; and you have made a bargain for yourself with them, you have loved their bed, you have looked on nakedness.

Ezek 16:25 You have built thy high place at every head of the way, and have made your beauty to be abhorred, and have parted your feet [spread your legs] to every one who passed by, and multiplied your whoredoms.
Ezek 16:36 Thus says the Lord GOD, Because your shame was laid bare and your nakedness uncovered in your harlotries with your lovers, and because of all your idols, and because of the [aborted?] blood of your children that you gave to them,
Ezek 16:37 therefore, hey, I will gather all your lovers, with whom you took pleasure, all those you loved and all those you loathed; I will gather them against you from every side, and will uncover your nakedness to them, that they may see all your nakedness.
Ezek 16:38 And I will judge you as women who break wedlock and shed blood are judged, and bring upon you the blood of wrath and jealousy.
Ezek 16:39 And I will give you into the hand of your lovers, and they shall throw down your vaulted chamber and break down your lofty places; they shall strip you of your clothes and take your fair jewels, and leave you naked and bare.
Ezek 16:40 They shall bring up a host against you, and they shall stone you and cut you to pieces with their swords.

1Tim 2:1 First of all, then, I urge that petitions, prayers, intercessions, and thanksgivings be made for all men,
1Tim 2:2 for kings and all who are in high positions, that we may lead a quiet and peaceable life, godly and respectful in every way.
1Tim 2:3 This is good, and it is acceptable in the sight of God our Savior,
1Tim 2:4 who desires all men to be saved and to come to the knowledge of the truth.
1Tim 2:5 For there is one God, and there is one mediator between God and men, the man Christ Jesus,
1Tim 2:6 who gave himself as a ransom for all, the testimony to which was borne at the proper time.
1Tim 2:7 For this I was appointed a preacher and apostle (I am telling the truth, I am not lying), a teacher of the Gentiles in faith and truth.
1Tim 2:8 I desire then that in every place the men should pray, lifting holy hands without anger or quarreling;
1Tim 2:9a also that women should adorn themselves modestly and sensibly in decent apparel.....

There clearly is not a pleasant future for the naked roaming around in nomadic tribes, whether they be natives in jungles or sophisticated suburbanite sun-worshippers in nudist parts and resorts. Related to that is the pornographic impropriety of those who lustfully view such indecent conduct, relating to and necessitating application of such Scripture as:

Job 31:1 I have made a covenant with my eyes; how then could I look upon a virgin?
Job 31:2 What would be my portion from God above, and my heritage from the Almighty on high?
Job 31:3 Does not calamity befall the unrighteous, and disaster the workers of iniquity?
Job 31:4 Does not he see my ways, and number all my steps?
Job 31:5 "If I have walked with falsehood, and my foot has hurried to deceit;
Job 31:6 (Let me be weighed in a just balance, and let God know my integrity!)
Job 31:7 if my step has turned aside from the way, and my heart has gone after my eyes, and if any spot has cleaved to my hands;
Job 31:8 then let me plant, and another eat; and let what grows for me be rooted out.
Job 31:9 "If my heart has been enticed to a woman, and I have lain in wait at my neighbor's door;
Job 31:10 then let my wife grind for another, and let others bow down upon her.
Job 31:11 For that would be a heinous crime; that would be an iniquity to be punished by the judges;
Job 31:12 for that would be a fire which consumes to Abaddon, and it would burn to the root all my increase.

Psalm 101:3 I will not set before my eyes anything that is base. I hate the work of those who fall away; it shall not cleave to me.

Matt 5:28 But I say to you that every one who looks at a woman lustfully has already committed adultery with her in his heart [though not in actual physical contact with her].

. . . which adultery has dire and disastrous eternal consequences:

1Cor 6:9 Do you not know that the non-righteous will not inherit the kingdom of God? Do not be deceived; neither fornicators, nor idolaters, nor adulterers, nor effeminate [Gr. malakoi], nor sodomites [Gr. arsenokoitai],
1Cor 6:10 nor thieves, nor the greedy, nor drunkards, nor revilers, nor robbers will inherit the kingdom of God.

Not merely dis-inheriting the kingdom of God results, but worse:

Rev 22:15 Outside are the [sodomite] dogs and sorcerers and fornicators and murderers and idolaters, and every one who loves and practices falsehood.

. . . with "outside" elaborated upon thusly:

Rev 20:10 and the Devil who had deceived them was thrown into the Lake of Fire and Sulphur where the Beast and the False Prophet were, and they will be tormented day and night forever.
Rev 20:14 Then Death and Hades were thrown into the lake of fire. This is the Second Death, the Lake of Fire;
Rev 20:15 and if any one's name was not found written in the Book of Life, he was thrown into the Lake of Fire.

Again, it must be emphasized the need for occasional nudity, not merely for bathing (of course) and birthing:

Job 1:21 And he said, "Naked I came from my mother's womb, and naked shall I return; the LORD gave, and the LORD has taken away; blessed be the name of the LORD."

. . . but also for sensuous stimulation causing the desire and actions of God-commanded reproduction, yet exclusively in the context of heterosexual marriage:

Eze 16:7 and grow up like a plant of the field.' And you grew up and became tall and arrived at full maidenhood; your breasts were formed, and your hair had grown; yet you were naked and bare.
Eze 16:8 "When I passed by you again and looked upon you, hey, you were at the age for love; and I spread my skirt over you, and covered your nakedness: yes, I promised you engagement and entered into a covenant with you, says the Lord GOD, and you became mine.

One might wonder what it would have been like had Adam and Eve not sinned, in which the following would have never occurred:

Romans 8:22 We know that the whole creation has been groaning in travail together until now;
Romans 8:23 and not only the creation, but we ourselves, who have the first fruits of the Spirit, groan inwardly as we wait for adoption as sons, the redemption of our bodies.

We then would have been a global community of nudists without shame, but after the great worldwide climate change following Noah's Worldwide Flood, harsh environmental conditions would not have been conducive to human survival without those humans protecting themselves in various ways (with or without the invention of clothes), and the Lord's pre-Flood directive of mere 120-year-max lifespans for humans eventually kicked in after The Flood, even though Noah himself lived way past that.

Added to that, it is possible that, if Eve and Adam had never sinned, the LORD would have instilled in everyone a sort of blind disregard and general indifference to at-large nude bodies....but also frequent and timely instinctual awareness, cognition, and recognition by each married couple of their own spousal mate's nudity-based desirability and attractiveness - enough to be an instigator or facilitator for reproductive foreplay followed by coital copulation.

But that is no longer possible, in view of what we read in the totality of the complete Bible.

In fact, people better enjoy their own and each other's nudity enough (at the right times, places, and circumstances) now in their temporal lives on Earth, because it seems that there will be no nude Nirvana virgins in the everlasting afterlife:

2Cor 5:4 For while we are still in this tent, we sigh with anxiety; not that we would be unclothed, but that we would be further clothed, so that what is mortal may be swallowed up by life.

Rev 1:13 and in the midst of the lampstands one like a son of man, clothed with a long robe and with a golden girdle round his breast;
Rev 3:18 Therefore I counsel you to buy from me gold refined by fire, that you may be rich, and white garments to clothe you and to keep the shame of your nakedness from being seen, and salve to anoint your eyes, that you may see.
Rev 6:11 Then they were each given a white robe (probably not a shortened nor transparent one) and told to rest a little longer, until the number of their fellow servants and their brethren should be complete, who were to be killed as they themselves had been.
Rev 7:9 After this I looked, and hey, a great crowd which no man could number, from every nation, from all tribes and peoples and tongues, standing before the throne and before the Lamb, clothed in [probably full-length and long-sleeved] white robes, with palm branches in their hands,
Rev 7:13 Then one of the elders addressed me, saying, "Who are these, clothed in [probably full-length and long-sleeved] white robes, and whence have they come?"
Rev 7:14 I said to him, "Sir, you know." And he said to me, "These are they who have come out of the great tribulation; they have washed their [probably full-length and long-sleeved] robes and made them white in the blood of the Lamb.
Rev 16:15 ("Wow, I am coming like a thief! Blessed is he who is awake, keeping his clothes that he may not go naked and be seen exposed!")
Rev 22:14 Blessed are those who do His commands (NOT the incorrect: "wash their robes"), that they may have the right to the Tree of Life and that they may enter the City by the gates.