66-year-old straight male here.
I went to a boy's boarding school, a few females, male changing rooms, I'd say about 10% of the boys were gay or curious. We showered toigether; there were no cubicles. I wasn't ever ashamed to be seen naked.
No woman I've been with (not very many) has ever seemed ashamed to be seen naked; but interestingly, I think, they have seemed to prefer to dress and undress out of sight. I'm not like that at all; I'd walk down the street naked, were it not for the risk of exposing an unexpected erection. Most girls are shyer than me, for what I think are obvious reasons.
I think there's no place for body-shame; I think it's sexy as hell when a girl enjoys you gazing at her naked body. I'm no work of art, but I love being consumed visually, too.