Oh, I think so much of how we view our adult selves starts in childhood. I've seen it (as I'm sure you have) in my own families, and in others around me -- if the parents treat sex and nudity as shameful taboos, that's bound to impact the children and grandchildren, and their own relationships with their bodies.
I do think it can be unlearned, though. For example, if you come from a family where it's taboo to even talk about lingerie, you can, in time, and with conscious observation, move away from that system. But you gotta acknowledge it first.
Thank you for the thought-provoking comment! :)