How do you teach children with autism modesty?

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Thank you, everyone for useful opinion.
I agree with many of you.
I will wait a while and time may resolve the problem.
Thank you, again!

I didn't have any sense of it until puberty, and I remember my mother getting upset with me for walking around naked, and I didn't even think about it. But if your son is like me at all, he'll suddenly change 180 degrees on that modesty problem, and you won't even catch him in the house with no shirt.

Charles

I would say that if your end goal is to reduce tge probability of your son getting naked in public you adress the problem from a combined approach
1) rule out that the behavoir is reinforced by escapibg from an unplesant tactile experince from his clothing (tags are often an issue, and i am really picky about hiw fabrics feel).

2) if this is not the case the behavoir is probably self reinforcing ie it just feels more pleasent being naked than dressed( when i was a kid it would take me an hour or more to put on pjs in occasion.
In this case it is a matter of where and when that makes this a problem behavoir. Work on developing a routine where he can be naked say in his bedroom or bathroom only, as much as he wants (perhaos with the caviat that tge door is closed or this doesnt happen when company is there.
You could try starting with a fixed amount of time per day and offer the incentive of increased time contingent on staying dressed in public.
Learning the subtlties between all or nothing is often very hard for us, ie there is a difference between using the same bathroom as your mom and sister do at home and its fine buf when you do it in public (as a male) people gave a very different response.