Years I lived in a share house and we had a couple of straight guys share the same bed in their room until the girlfriend of one of the guys arrived from overseas. These boys were nudists and were happy to sleep naked with the door open, no one had issues with it and the girlfriend explained to us that the guys were really close and she had no issues with this and encouraged their bonding habits. Apparently before she came on the scene the two boys used to be involved in MMF FFMM group sex a fair bit and most of their other mates were the same. It's through them I learned the saying 'If we have to race to get clothes when someone arrives, it means they're not our friends'.