Ok - I'm going to be brave here.... (First, I don't call those cheerleaders "nude". They're "scantily clad", and there's a difference. "On the one hand, I don't see nudity as an issue at all. As someone said, it's what everyone is underneath their clothes. I made it a point to try to help my children know they should feel comfortable with their bodies. If someone ( like BP) likes skinny dipping at some quiet lake it's their business, and I don't see any "issue" with that kind of thing.
On the other hand, I don't think that acknowledging that all body parts are not equal means associating some things with "shame". People are told to tell children, "If anyone touches you anywhere your bathing suit would cover, tell someone." Nobody says, "If someone touches the top of your head, tell someone." There's a difference between the stuff that bathing suits usually cover and body parts like hands, wrists, calves, etc. I don't think it's a bad thing to let children learn that there are places for different "levels of dress" or that there is a difference between the parts bathing suits usually cover and the tops of their heads or elbows. We don't wear bikinis and bare feet into nice restaurants for reasons of health codes and decorum. I don't think decorum and refinement are bad things, and I know they don't always mean people feel shame about bodies.
How free people are with their own nudity around family/friends varies from person to person, but thinking a little "decorum" is nicer in "the general public" (outside one's own circle of friends/family) doesn't mean someone thinks bodies are shameful.