Western religions do not generally have direct prohibition of social nudity as a core belief, such prohibition as there is has come about from custom and practice and from misunderstood interpretations of early teachings.
Protestations against nudity have been made by a few of the religious hierarchy and sadly followed by the many. There is often a huge difference in the core beliefs of a religion and what is taught by those who feel they should teach it. It is quite easy to find a given religious text and then to find a range of mutually opposing interpretations of that same text. A good example is the use of the word “shame” in the Christian story of Adam and Eve’s expulsion from the Garden of Eden.
Some Christian teachers will take it to mean that nakedness is shameful, others will take it to mean that nakedness is good; the position taken by the Christian naturist movement. How could a God have made something shameful? Would you dare suggest that the handiwork of your God is so flawed it must be covered all the time? Did He make such a serious mistake?
Who are you to tell your God that He made mistakes in His creation? To me, the good or bad about nudity is what is in your heart, your intentions, the reasons you go naked, not the nudity itself.