Wow, the comments in this thread are surprisingly bad, even for a shitpost.

Having been in the situation myself, my thoughts were very much "let's not make them uncomfortable" (meaning feel sexualised), but the first times (as a young'un) it got stiff enough (not that way :p) that the person chose to break the tension. Just don't be weird about it and everyone can be comfortable.

There are plenty of situations and contexts where nudity isn't sexual, and I highly recommend getting comfortable with that distinction. I find people and groups of all genders to become a lot more safe with that skill.