There is much to be said for social (non-sexual) nudity. What science and history I can find (from a brief Google search) indicates it's fairly widespread and quite healthy, although dermatologists would surely counsel moderation in outdoor settings. I skinny-dipped in groups a few times in my teens and early 20s but not since. I'd love to live somewhere the naked body isn't fetishized.

Are we, as you and many others say, more truly ourselves unclothed? I can see how we might become so, but not until we were so used to it that our self-consciousness ceased to be an issue.