The problem as I see it.

Education. We are afraid of teaching kids about sexuality and prefer to teach about the myths that love and sex go hand in hand and that both are ordained by God(s) for some mythic purpose.
Children tend to copy each other. If you have a bunch of children who grow up in a Ku Klux Klan environment, they will tend to develop into Klansmen. If you allow children to run naked they will tend to enjoy running around naked.
We also don't teach respect. People love to watch other people yell at each other (real wives of wherever). that has to end. This is why I stopped watching "Dance Moms". Yes, the girls were hot, but there was too much focus on the catty moms.
I think limited public nudity like at a pool or water park or even someone's back yard is a sensible first step.