Nudity is offensive because the culture of the West has made it so. Adam and Eve were created nude, we are born nude. David danced nude before God, some Prophets in the Old Testament were told by God to preach nude.
I'm not going to argue any specific viewpoint here but I would like to touch on these scriptures because I think they are being misrepresented.
In 2 Samuel 6:14 David did not dance naked before the Lord but rather:
"David, wearing a linen ephod, danced before the Lord with all his might."
A linen ephod is a hip-length sleeveless pullover which was worn by those who served the Lord at His sanctuary, and is to be distinguished from the ephod to be worn by the high priest. Several verses later, in 2 Samuel 6:20, Michal the daughter of Saul objects to David's dancing:
"When David returned home to bless his household, Michal daughter of Saul came out to meet him and said, 'How the king of Israel has distinguished himself today, disrobing in the sight of the slave girls of his servants as any vulgar fellow would!'"
Michal is objecting to the fact that David was wearing only a linen ephod instead of his royal robe. David responds by saying, in essence, that the robe is to exalt himself, but David was seeking to exalt the Lord.
Also, in regards to the prophets preaching naked, the only prophet I know of who preached naked was Isaiah (though TBH I am not very familiar with the books of the prophets). Isaiah 20:1-4 reads:
"In the year that Tartan came to Ashdod, when Sargon the king of Assyria sent him, and he fought against Ashdod and took it, at the same time the LORD spoke by Isaiah the son of Amoz, saying, 'Go, and remove the sackcloth from your body, and take your sandals off your feet.' And he did so, walking stripped and barefoot."
"Then the LORD said, 'Just as My servant Isaiah has walked stripped and barefoot three years for a sign and a wonder against Egypt and Ethiopia, so shall the king of Assyria lead away the Egyptians as prisoners and the Ethiopians as captives, young and old, naked and barefoot, with their buttocks uncovered, to the shame of Egypt."
So Isaiah's nudity was meant to be a representation of the shame which was to come upon Egypt and Ethiopia. Public nudity in the Bible is often used as a sign of shame. It is why the soldiers stripped Jesus of his garments at the cross.
In regards to nudity, I don't think it is something that can be said to be all good or all bad. Being raised in western society, I personally believe that most displays of public nudity are inappropriate. Some people might go to a nude beach and not have a problem with it, but I would prefer to be / have a spouse who is a little more modest.
Also, I would caution against arriving at a conclusion on an issue like this and then going to the Bible to find verses to support that conclusion. What often happens is, as you see here, things end up being read into the scriptures which aren't really there.