I think I'm only uncomfortable with nudity because most other people are. If I saw someone walking around naked, I would feel uncomfortable for them because I know that someone being naked generally makes people feel uncomfortable.
But probably if nobody cared and everyone just did whatever then I wouldn't feel uncomfortable, as long as I knew no one cared. I'D even go out naked. It's one of my most deepest buried desires.
It's all PSYCHOLOGICAL, YO.