I grew up in a very modest home. I can't ever recall seeing my mom in less than a full slip, except I saw her once in a bikini bathing suit. The rest of the time she wore a one piece bathing suit.
My kids and I bathed together until they didn't want to, and that was around 5. All of my kids were/are more "exposed" to their kids than they were with us or we with them.
My girls were very modest from puberty to marriage, but have nursed in front of me with a cover up (DIL too), but mostly a coverup very carelessly tossed over the baby's head. I have seen their bare breasts upon occasion before or after the baby latches on. To me that's not sensual. A baby is supposed to nurse.
Based on the conversations I've heard, all of my kids have gone skinny dipping with their spouses. I believe all of their skinny dipping sessions were done in private with their spouse, not with others.
I have known several families (three, if I remember right) where the entire family is nude around each other in their home. I've never been to their home when they were nude. They tell me they have been to several beaches in Europe where entire families visit the beach without bathing suits. They tell me toplessness is common over there, and nudity is accepted on remote beaches. When I was in Nice, France, back in the 60's only about 20% of the women on the French Rivera were topless.
Good or bad depends on the family's attitude about nudity more than anything else.
Good luck to you and yours.