As a teenager I went to a Quaker summer camp with a lake where everyone swam naked if they wanted, counselors included. It felt healthy. The camp had very strong messaging about respect and how the body can be naked without being sexualized. Actually the rules were that anyone could be naked anywhere, which made communal living much easier, what with showering and people who like to sleep naked. I guess they probably can't do that any more (but I haven't asked).