I consider myself very lucky, I grew up in the late 60's and 70's. My parents were always open, walked around the house nude, and never shamed us about being nude. We also had a pool, and lived in a secluded area. Funny, we would take our suits off, hung them on the clothesline, and went into the basement nude. Later I learned that my parents had friends over and they would swim nude, and they also were swingers. I saw many of my parents friends and neighbors nude.
They also talked to us about sex, about the consequences of getting pregnant and such. We were always asked if we had any questions, and they were always open.
I think that so many people don't talk about it, and there are so many myths, and dis-information.
I also did learn a lot reading Playboy Advisor and Penthouse Forum too.