The kids actually become freeer with their body, and learn not to be ashamed of it. At least that is my experience. But I did stop walking around naked or in my underwear at home since the children are getting bigger. But the doors are open and I wear little when it’s hot. They come to talk to me while I’m dressing or in the bath. I once asked don’t you mind me being naked, and the answer is nope, and keep on talking. The kids don’t close their doors either and actually do walk around naked or in their underwear , and they are teens. They are well aware not to do this when we or they have friends over.