"[...] well, has ever been a teenaged boy [...]"
At family naturist swims the teenage boys seemed to have no problems - even when they were with teenage girls. The answer is apparently "familiarity". They had been used to being naked in social situations for some time.
It is the unexpected glimpse, or even the possibility of seeing something not hidden, that acts as the stimulus to the psyche. That is why "textiles" tend to think about sex when they see nudity - and naturists don't.
As D H Lawrence said in his poem "Figs" - a fig leaf is not to hide but to adorn. What is hidden is always an allure and titillation.