I am absolutely all about nudity in the home as long as everyone’s on board. For instance, when my kids asked me to stop walking around nude, I did. (I identified as a woman at that point.)
At this point I’m not comfortable in the nude, physically speaking, because of sweating and the fact my back hurts from the large breasts I still have. (Yeah, I know, there’s evidence that wearing a bra — or in my case a binder — is “bad” because it weakens your back. I have fibromyalgia and need not to be causing myself unnecessary pain, plus I’m going to have my breasts removed anyway.)
But conceptually, I’m good with it, and I’m glad that I did do it when my kids were young. I don’t know that it contributed to body positivity on their parts, but I don’t think they find it was unhealthy, either, in retrospect (they’re all grown).