Humans invent things out of necessity. It's the same reason why we have all the technologies and innovations we have right now. And also, humans are the only species possessing culture. Clothing performs a range of cultural functions.
I love my body. Millions have probably seen me naked. But I'm not going to walk around and freeze. This is Ohio. You don't know what season it's going to be when you wake up to when you get off work.
Clothes are less about modesty and more about being comfortable. Unless you a hoe
If humans didn't wear clothing, that means we would need to be born with natural weather resistant skin. Our skin is very fragile and we're easily susceptible to all types of things. And our skin itself is pretty thin, so we definitely need a protective layer of something.