I would say this me and my dad would be naked a lot and there was nothing sexual about it. He slept naked as do I. When we would go camping we would sleep naked together and nothing would happen. He showed me that the human body is a beautiful thing, and to always respect it. That’s why I could be around other guys and be naked with them and not have a boner. I don’t know that is just my experience with my dad.
Though many are various nude situations, no inference to incest is asserted.