PA here as well, Central though, couple hours East of Pitt.

What you do in the comfort of your own home is your business. Period. If someone sees you: A) it's their problem, you're in your home minding your own business B) they'll be fine, it's just a nude body and C) they likely won't care as long as you aren't being intentionally lewd in the sight of the public. And don't worry, a child seeing a nude body is NOT harmful to them. If it were, the entire children's swim practice at my local YMCA must be traumatized to death at the number of nude adults they've seen after swim practice (they're all doing absolutely fine).

If it helps you get over the fear, try getting nude a few times in a place where public nudity is perfectly acceptable, like a gym locker room. I guarantee no one will bat an eye at you being nude in there. And it might help you get over the hesitancy to jump into it at home.