I started sleeping naked after college. I love it! Why wear clothes if you don't have to?
Your body is not bad. It's just private. This is for your protection as well as someone else's. At home in your own space is the perfect place to be nude as much as you like.
Sleeping in the nude is natural. It's comfortable and even sensual. There's nothing wrong with this. So what if you have an erection? Those come and go all the time anyway.
I only wear clothes if I'm sharing a room on a trip or something as a courtesy to others. Like I said, not bad just private.
It's perfectly normal to get erections about every 90 minutes while you sleep, naked or not. Sleeping naked will not increase this.
Just sleep naked when you sleep by yourself, that way nobody will know. I don't know how to really how to help you here, I'm a female. Sorry hun!