An interesting question Ill pop back and see what others say. We also sleep in the nude and when DD who is 2 climbs into bed in the morning for cuddles we dont jump up and get pjs on lol. When DF gets up he puts boxers on but I often get her breakfast and put the wiggles on before I have a shower so she 'see's' more of me naked than DF. She is one who loves to do a nudie run after the shower.

I never thought of it as 'baby massage' as such but I often rub her bare back, shoulders and tummy and how can you not smack and tickle those gorgoues little butts. I think it will be sad if her relaxed attitude to nudity changes.

I remember seeing my parents naked occasionally especially with 6 people and 1 bathroom, mum or my sister would be in the shower and I would do my teeth or vice versa so it wasn't a huge issue. I think I was about 10-11 when I saw my fathers bare butt last (well apart from the plumbers crack which is often on display lol) Even now if Im getting changed mum or my sister will just follow me and chat to me while I do it. Mum still rubs my back every now and then if I can con her to he he.
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I think its sad that physical touch isn't encouraged more because it can make a huge impact. As a nurse I can see the difference holding someone or touching them as a human not a patient can make. And as a human being often if I am sad or depressed I want to be touched, held etc.

Sorry for the ramble I just think touch is really important and not done often enough