Do people actually want to be naked?

I'm not sure if this is considered NSFW but I'm putting it as NSFW just to be safe.

I've seen a lot of posts talking about being nude if it was legal, wishing it was legal to be topless, etc, but my question is, do people actually want to be naked?

It seems like it'd be uncomfortable and wouldn't they be embarrassed of everyone seeing them? I know guys who won't even go shirtless at the pool.

It seems like something everyone talks about, but realistically, hardly anyone would want to do.