Should I ask before getting undressed in front of others at my house? Why is it the norm that we get undressed in private? To make who comfortable?

Is it weird that I'm comfortable with female friends seeing me naked? This makes me contemplate why we tend to get undressed in private to start with. Is it because the person undressing usually prefers privacy, or is it to not make it awkward for the other person in the room?

Should I ask before getting undressed in front of others at my house? Why is it the norm that we get undressed in private? To make who comfortable?
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