We are NOT embarrassed of our genitals, I don't remember ever feeling like it was a taboo subject just because we didn't use the correct terminology, I never found a problem with not speaking the correct terms when growing up ( I knew what was what and where everything went and what it all did). You use what you and your family are comfortable with.
I couldn't agree more. It was always fanny and doodle in our house when I was a child but we definitely knew the correct names and used them when required. My parents weren't embarrassed, nor were us kids, its just that more relaxed names suited our family, IYKWIM

We'll be teaching our children the correct names but will use more light-hearted names around home such a willy and ginny (or vjay-jay).

It's a personal thing, each to their own.