We sleep nude and are nude in front of DD, but she's only 1. I was brought up in a home where nudity was a natural thing and often saw my parents naked, even in my early adult years before I moved out of home.
While I didn't really like seeing the nakedness when I was a teen/young adult, I do feel that it helped me to easily adjust to seeing my husband and previous partner naked as I knew what to expect IYKWIM.