Maybe I misunderstood the verse, but Yeshayahu 20:3 teach us that Yeshayahu was a servant and walked naked and barefoot for three years. Why would HaShem allow him to do so? While Adam and Eve had to be clothed because of their nakedness, the nakedness of Noah shouldn’t been seen, and other verses who teach us to dress well before HaShem.
Rashi quotes the Targum Yonatan and says that "naked" doesn't mean literally naked
naked: (עָרוֹם). Jonathan renders: פְּחֵיחַ, with torn and worn out clothing, but not actually naked.
Other commentators mention that it was symbolic or that he was actually only naked for a brief time, in his own house.