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Public nudity has been taboo since long before we had governments and laws. Even uncontacted peoples generally cover their genitalia even if they are otherwise totally naked. Regardless of first-principles freedom-based arguments, US legislators did not create proscriptions against public nudity and they are not going to be able to eliminate them.

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Homosexuality was treated similarly negatively in much of the world and much of human history, but US legislators have managed to move away from it being illegal.

Not true in the slightest. Ancient Greece and Rome all the way up untill the Holy Roman Empire had no problems with homosexuality especially when it was citizens against members of the lower classes.

Homosexuality was quite common and accepted in Europe until the widespread adoption of Christianity.

What you are talking about was pederasty, not homosexuality.

It includes pederasty but is not exclusive to it. A male citizen having sex with a male slave when both are adults was considered fine too. From my understanding it was acceptable so long as it was a citizen with anyone of lower class.

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