> If you're over 10 years of age you should know what your limits are.
Propositionally knowing things is very different than being able to make the right decisions when the moment comes. A 10 year old neither has the fully developed prefrontal cortex of a 25 old nor the required self knowledge. They are not even in puberty and half of their emotions, desires, drives wouldn't have come online yet. They will depend an active presence of your adult perspective to make sense of themselves and the world. Don't worry, they will still make their own mind anyway.
> I won't shame them in any way.
I know you mean well, but there are legitimate instances where shame is deserved, and regardless of that, society won't pull punches on using the shame lever legitimately or not.
> Nudity isn't inherently sexual and shame is a social construct.
You are right, these are called the purity codes of a society, and like you say, they are very context dependent. But social construct or not, falling out of those contexts will have social consequences, e.g. leave your kids prone to rejection, with lessened social agency and more isolation.