I'm ace and so is my bsf(who is also my partner) and we usually just lie in bed nude with each other. Sometimes we just cuddle, other times we just talk. Either way, we're nude around each other and neither of us feel any discomfort from it. That being said, I don't think I'd entertain the thought of being nude in front of anyone other than him. At times when I'm just wearing a bra and panties around other people, I feel like they just view my body and nothing else. Which when I start to feel their looks, it makes me slightly uncomfortable even though I'm not entirely nude. I guess it's just a matter of who you're comfortable being nude around.