Then he said to Joshua, See, I have taken away your sin, and I will put rich garments on you . Then I said, Put a clean turban on his head. So they put a clean turban on his head and clothed him, while the angel of the LORD stood by. No one wants to wear filthy clothes. It's an embarrassment.
Sin is an embarrassment.
When you have overcome sin, there are no thoughts left that are embarrassing. God can read your mind. He knows your innermost self. God sees your nakedness whether or not your are wearing clothes. But if we walk in the light, as he is in the light, we have fellowship with one another, and the blood of Jesus, his Son, purifies us from all sin.