I believe it was not a question of necessity but a matter of recreation.
First we have to consider what it means in Judaism then try to determine what that means in Christianity. Circumcision of males is something Jews do. Does it mean the foreskin of the penis is evil? No, yet they cut it off. (Ouch!) Christianity does not require this but requires learning the lesson it teaches. Similarly Christians are supposed to extract the lessons in Judaism about nudity to determine what they are intended to teach us.
My opinion on it is that the law in Judaism forbids nudity in particular situations. It forbids nudity between certain family members. Nudity is also specifically forbidden near the altar, and I think this could mean its not forbidden in general but don't know. Its also used as a euphemism for sex in some passages. There are times to be naked, and I don't know what times those are in Judaism. Not everything is spelled out. Family members are expected to be clothed around one another in Judaism (I think). You may want to check with a rabbi on that though. Sometimes you do or don't do things in Judaism just for memorial reasons or symbolic ones. In Judaism it seems to me that an entire lifetime of a person is filled with these symbols and actions which to outsiders seem meaningless/extreme. They can also be beautiful, marvelous.
The Christian is expected to take the dexterous, proactive, moral life of Judaism to the next level in lieu of all of these extras. You can be naked, but there's no point in being naked. You can't relax. A genuine application puts a person constantly at some kind of work either mental or physical, so time to hang out naked is likely going to be as limited as possible. Maybe you spend time with your wife but just enough to get your hormones settled so that you can get back out there working to feed the orphans. Busy busy busy all the time.