Sure, lots of times. There's nothing wrong with mutually agreed nudity in bed. Many times friends thought nothing of going to a bedroom (theirs, mine, or an assigned one), taking off all our clothes and climbing into bed with each other. I usually sleep nude, so it's gotten to be a habit to strip to the buff before I sleep. Most of my friends sleep nude also.
If you're straight, and wake up snuggling with a straight bud, what's the big deal? It feels good to hug another human, and that act doesn't make you less straight or instantly gay.
I've slept with same-sex friends many times, for many reasons. It was always a good experience
The problem comes when people buy into the stupid idea that Nude = Sexual. That stupid idea is why people go to great trouble to hide their bodies from others in locker rooms, showers, and so on.
I'm not shy about my body at all. If I'm naked, you're welcome to look. Just don't expect that, because we saw each other naked, we're uncontrollably sexually attracted to each other. T'isnt so.