I'm on a parenting forum, and this Q pops up at least once a year.
Variations of nudity taboo Q's come up monthly.
With about 120 avg. responses it tends to split 70-80 yes & 40-50 no.
It's a fairly consistant ratio.
There's a wide variety of reasons behind people's reasonings that take into account everything that would make a sociologist proud (culture of origin, religion, traditions, generation/cohort effect, histories of abuse, etc.)
Which all boils down to the
Standard Parenting Answer : Different things are best for different families.
My own (mostly) Scandinavian family?
There's no nudity taboo.
Not only are 6yos bathing with their parents, but we've had 40+ naked people in 4 generations in hot springs, grand kids / kids/ parents/ grandparents all in some state of undress (including being hosed off in a line) at the beach, 6 kids 2 parents 1 bathroom doing the mad shower and rush to work & school. The 8yo whose quote of the year is "Soap is for losers" not even allowed to bathe on their own.
Culturally my family doesn't associate nudity with sex.
There's also no abuse profile in my family.
Which means for my family? No worries.
Other families have different rules, and different norms.
Both are fine.
Neither are sick / twisted (even though each tends to find other people's norms sick/twisted... Because neither views children as sex objects. Listening to the 2 sides argue is hilarious. You guys are arguing the same point! You just both have different ways of getting to the same point! You agree with each other! Yeesh.)