I was raised to be a prude. I remember seeing my sister in pajamas once and her nipples were poking out and my mother was absolutely furious, and my sister has slept with a bra on under her clothes ever since, even some 30+ years later. I never saw my parents in anything other than fully clothed. To this day my sister sleeps covered head to toe and even in a bra. She is raising her kids the same way. I remember my sister saw me naked after a shower once on accident, and even though she and I didn't care, we were petrified that our mother would find out, and that is what we were afraid of.
I remember being a teenager and staying over at my friends house a few nights in a row, and his family was completely opposite. I saw his entire family naked each night and mornings that I stayed there. Everyone in the family slept nude and walked to and from the bathroom and shower totally naked, even with me there. I stayed completely dressed, being completely mortified.
But I became less of a prude in college, and with my own family things are different. My kids and I see each other naked quite often, and of course it is 0% sexual. It just being relaxed and practical. My wife is becoming less prudish herself. I think one of the kids actually saw my wife in a bra the other day, which is new for her.
My wife and her siblings were pretty much conservative about nudity growing up, but her mother was quite open about it, so I have heard through stories of their friends coming over and their mother would be walking through the house naked and stop to talk to my wife's friends. My wife's mother is still pretty open about being naked, even though she is very conservative in all other areas. I remember when my wife and I were sharing a hotel room with my mother in law early on and she was naked in the room a lot. So, I made sure to be just as naked!