I am comfortable being naked infront of others now, but I wasn't a year ago. I had to learn to be accepting of myself at any given moment so that I could feel comfortable being spontaneous with my body rather than trying to maintain a certain image.
I find that a lot of enlightened people, both conservative and liberal, are very comfortable with their bodies in a way unrelated to sex. They are just very secure and self-accepting.
I've also found that when I show this self-acceptance to others, which does not have to necessarily be in the nude, people are more open to friendship. I think confident self-acceptance, including acceptance of one's body, causes others to feel one is being authentic, which puts others at ease and encourages friendship.
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If you wonder about what I mean by "conservative and liberal" then think of a group of mixed gender WASPY college kids skinny dipping off a boat and a group mixed gender hippies running around naked it the forest. It's really all the same. I've gone to parties with both types of people and did just fine behaving the same way, that is going with the flow and not second guessing myself as I do it. (Although sometimes I do the next morning
. . . gotta work on that.)