I also posted in the other thread where nakedness came up, but I'll post again
I grew up in a very open household, I would still go and sit on the edge of the bath and talk to my Mum now. I can't remember when I last saw my Dad naked, but I've certainly walked in on him changing and it's been a case of "oh, sorry!" but no great embarassment to either of us. My Dad has definitely be known to rush down the corridor in his underwear and I would not find it weird.
I have 3 sisters and they're all slightly different. My youngest sister will still go in and talk to my Mum in the bath, but she's incredibly self-concious about her own body. This is down to her being very overweight though, she's trying to lose weight at the moment and gradually feeling better about her self. One of my other sisters would change in front of me but not the other two - we're close, I think she's just being difficult
The other is fairly open so we would change together but again she's overweight so wouldn't flaunt herself.
I'm definitely known as the nakey one
My friends have kinda got used to it. I lived with my best girlfriend when I was 21, previously she'd always changed in private, after 2 months with me she was walking around the house singing naked
I don't know how it will be if I have boys, I grew up in a very female environment, it's something we'll tackle as we go. DH and I both wander around naked a lot. He's not from the UK and I have spent a lot of time in Europe and on the beach I will either be topless or naked, depending on how I feel and where it is.