In the Garden, we (Adam and Eve) were naked and in total relationship with God and each other. But sin caused us separation — from God and each other – and caused us to need to cover ourselves. God made a sacrifice to cover (clothe) us… and eventually another sacrifice to restore us to relationship with Himself (Jesus).
In our modern Context, we need to be Naked with God – but fully clothed – that is protected, covered, and taken care of. When we stop hiding (like Adam and Eve did) and receive what Christ has done for us we can once again be fully in the presence of God – unashamed and in relationship again.