When I have time, I plan to research the origins of the nudity taboo. I suspect it has some connections to Victorian times in Europe, when even table legs had to be covered lest a bit of (wooden) ankle provoke a man to fits of savage lust.
In cultures where the body--including those parts that are most involved in sexual expression--is accepted as a shame-free part of being human, media and advertisers can't manipulate us near so easily.
I think I was 12 when I first read that some people slept without pajamas. I have not (other than required by circumstance) worn a stitch to bed ever since. In my mind, it would not be natural.