In scripture and after the fall of man, nakedness is always an expression associated with shame, and can be thought of literally as a lack of a covering. The Hebrew word for atonement in the old testament refers to a covering or the process of covering ones nakedness as in Genesis when God makes a covering for Adam and Eve out of animal skins, requiring the shedding of blood.
The ritual sacrifices of "the law" also required the spilling of blood in atonement and a literal sprinkling of that blood on the "mercy seat", that part of the Ark of the covenant where "the glory" (the shekina) of God appeared, once a year, on the day of atonement (the covering of sin).
When God created us, He looked upon all things and called them good. That includes Adam and Eve, naked in their innocence. However, since the fall, everyone is born into this world naked in their innocence, but becomes corrupted over time through that fallen nature.
We all need a covering and the Lord provides that in Christ.
He gives His saints a white robe to hide their nakedness. A robe of righteousness, His righteousness, to cover the stain of our sin. You see, it's not the nudity that's the problem. We were created that way.
Sin is the problem, and certainly sexual immorality tends to be the most problematic because we were created to join as husbands and wives, and to take pleasure in each other under the covenant of marriage. I don't believe that nudity stimulates lust, but comliness or physical attractiveness certainly can.
Most worldly men and my experiences before salvation suggest that the imagination is what promotes lust, and that scant clothing on an attractive woman is more arousing than seeing the same nude. Our imagination is only evil from our youth, and imagination takes what God intended for good and extends it, profanes it, perverts it into all manner of evil.