I have two girls (yes I am female, don't let the name fool you
) And they see me naked all the time. We also have a small house and I am a stay-at-home mom, so I am here most of the day with them (except when the eldest is at school) and they see me naked all the time. I'm not ashamed, and they know what a vagina is and what breasts are. They are 2 and 5. My 5 year old has been taught that anything she wants to keep private is her business. She even called her bellybutton private one day, so we covered it up with a long shirt, if she wanted it to be only hers then it was. Then there are days where she wants to run around the house in just some shorts or whatever, and I tell her she is allowed, but not where other people can see her, because those are parts that aren't for strangers. In my opinion that is the only truth out there for my kids. I was taken advantage of when I was younger (around her age now) by a family member, and so am doing my best to let her be free, but to know her limits and to know the difference between bad and good experiences and how to deal with both. She doesn't walk around undressed in front of company, but Nana and Papa or Mom and Dad, she knows she can be comfy.
I hope that long story made sense
short version: Yes they see me nude all the time, and if we have a boy (bun in the oven) he will to, as he will also be breastfed as long as possible so will already be familiar with mommy's body. Daddy on the other hand usually makes sure there in a towel in front when walking around the house, since my eldest turned 5.