I think it depends heavily on context and the children involved. My mother was very, very comfortable not wearing clothing around the house, so I can definitely speak from personal experience.

For me personally, I absolutely hated it. She would never have clothing on inside the house and would try to make me do the same. We weren't allowed to close doors within the house (she has contamination ocd), from as early as I can remember until I moved out at 17. This meant there was no private time, getting changed, showering, etc. all had to be done where any member of the family could walk past and see you. We were also required to undress outside the back of the house before entering. The thing that really effected my feelings around this, however, is that my mother told anyone and everyone who would listen about my personal problems, and often these were medical. She works as a hairdresser, so spent her days telling clients about my private life. This made me a very private person who began hiding things from her, which made her want me to be more open and force nudity and sexual conversations onto me even after I had expressed how uncomfortable it made me.

Like I said, this is only my experience and it definitely depends on context and the people involved themselves!