The context of this thread and the linked article implies that we aren't discussing every civilization on Earth. I apologize for not explicitly having stated that, sometimes I forget that this is HN, where nuance and context go to die.

Norms against nudity within Western societies - excluding non-Western societies such as in China, Japan and India - are based on Abrahamic religions.

It is true that other non-Western societies also have norms regarding nudity, but those norms are not the same as in the West, and even within the West and other Christianized nations such norms tend to be more permissive than in the US. To give an example, in the US breastfeeding is considered implicitly sexual and thus allowing it in public spaces is controversial, whereas this is not the case in cultures where any display of the female breast is considered to be pornographic. You can even find cultures where public nudity has little if any taboo at all.

So no, other than the strictly physiological need for humans to provide a layer of physical protection around their bodies by means of garments, there is nothing more fundamental going on here. Norms around nudity are entirely cultural.