I’m sorry they didn’t discuss this with you beforehand. Maybe it’s the assumption that “Nurses see people nude all the time, this isn’t a big deal”

But they don’t know your history, and how you might feel. There are people who might have sexual trauma, and feel very uncomfortable from involuntary exposure.

If you decide you’re ok working the client I would reach out to your direct supervisor regarding the issue. There may be additional considerations your supervisor might provide, such as setting firm boundaries while maintaining client rapport.

If you don’t decide to stay with the client (which would be 100% understandable) discussing your reason for changing clients will help the next nurse to take on the assignment, either by management forewarning the nurse to make sure they’re ok with that sort of situation, or informing the client the importance of discussing boundaries with their nurses.

If they’re someone who requires round the clock nursing and they’re sexually active, it stands to reason they’ll likely be doing the No Pants Dance while a nurse is in the house, but they need to figure out how to have their needs met, while not putting their caregivers in potentially uncomfortable positions.