Nudity wasn't an issue in my household growing up, nudity isn't an issue in my household now. I've gotten into the shower with my siblings even now, but then again we grew up around nudist beaches, so nudity isn't something that is hidden.

The younger ones went through stages when puberty first hit & their bodies started to change that they were a little bit shy with their bodies, but that was only a stage and we soon got back to it being as it was.

It is whatever you feel comfortable with and your household feels comfortable with.

With mine, it will depend on how comfortable everybody is. I've learnt over the years that sometimes it is just easier to be naked when you bath them because of the amount of water that gets splashed around.