I personally don't see why nudity always seems like such a big deal.
We have a very in-depth clothing mechanism in the inventory, with layered clothing and all.
Having pants and undershirts (Wouldn't go for a bra at all) as well only makes sense.
And if we remove them, there should be nothing underneath.
I always found artificial layers of undergarment to be pointless.
You put off layer and layer of clothes, and you end up naked. So what?
That's how it works.
Just because someone is in the nude doesn't make him offensive, raunchy, or perverted. Just a nude person. Kids will not be shocked and traumatised by seeing a nude person, and adults won't be either. It's what you DO with your nakedness, your intent, that gives potential for being offensive, not the the fact that you are indeed naked.
So I'm all for having nude characters when all clothes are removed. Because hey, people ARE naked when they remove all their clothes. Simple as that.