Tantra is the art of loving: yourself, life, and others.
How often do we wish things were different: for ourselves, life, and others?
Tantra is about liberation and space within yourself, among other things. Tantra provides an overall sense of freedom without implying that everything is mandatory, permissible, or allowed. Respect for your own boundaries, your pace and manner of growth, and mutual respect for the people around you are essential in this regard. In tantra, nothing is required and nothing is necessary. Being naked is not essential for tantra, except for certain exercises or massages, of course.