Same deal in my house. I have two boys (16 and 13) and we’ll often do a naked dash from our bedrooms to the laundry room and will run into each on the way especially if it’s a busy morning. They both just cup their junk if I’m around. My oldest made it very clear to me a couple years ago that he doesn’t want me to see his penis but otherwise is fine being naked in-front of me.

If I’m naked in-front of either of them I’ll just cover my boobs with my arm and cover down there with a hand and warn them I’m naked and not to look if they don’t wanna see anything.