We have no issues with nudity in our house. DD obviously is curious and has pointed at us both when we all shower/bath together (usually i will have a shower and they have a bath) and say "whats that" and we tell her and she does this cute little giggle and covers her mouth.
As for siblings they can tell us when they don't want to. I showered while my sister bathed right up until we started high school. We always got changed infront of each other. Our brother was a different story we often got told off for walking around topless when he was little. I didn't care lol
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