This is a crucial thing to point as this is one of the things that separates us from the animals. the ability to be aware to such things. (as far as we know so far
) [so far only several species has been found to be self aware, none of them cared about exposing their gentiles
]
once eating the fruit, it was the real choice to be a "free willed" entity that is not a "robot".
The separation from perfection is the only way a "free will" could be manifested.
From a more "social evolution" POV, one can assume that nudity was common when we were ancient homos, once humans had the understanding of clothing, they used it to cover their bodies as protection from the weather and such.
It is assumable that with the years, clothing became a socially accepted way to behave until eventually nudity was considered not an accepted way of hanging around with others. (many people would disagree about this social decision, but they have nudist communities and a likes.
An evidence to that can be the ancient tribes we can find even today that have a very different POV regarding nudity.
Its not a bad thing nor a good thing. it is just an accepted way of appearance.