Clothing The Naked

Clothing the naked in the context of Isaiah 58:7, a verse elaborating on what God accepts as real fasting (58:5-6) in the midst of unfaithfulness in Israel, is clearly about helping the destitute and materially providing for the vulnerable.  Not only is it mentioned after sharing food with the hungry and providing shelter to wanderers, but a prudish or contemptuous demand for someone to be clothed would contradict Genesis and Mosaic Law (God creates humans naked and it is very good, and Mosaic Law both does not oppose nudity of various kinds and, as will be touched on here, openly acknowledges it).  Public nudity alone is not necessarily unwanted by the naked person or a manifestation of poverty.  

No, the display of the penis or vagina along with the full unclothed body can be intentional and express a variety of motivations on the part of the person whose body is uncovered.  Similar to the real doctrine in Isaiah 58:7 is Exodus 22:26-27, which allows people to give their sole article of clothing, in this case a cloak, as a temporary pledge for debt.  This passage says the person offering their cloak as a pledge has nothing else to wear.  The man or woman is nude, and there is of course nothing sinful about this.  As for the person who takes the pledge, they are told to return the garment by nightfall so that the former person will be able to sleep safely and comfortably.  It is not even that providing a pledge is the only reason public nudity can be accepted.

There is neither an obligation to wear clothing nor an obligation to not wear clothing.  Only in particular circumstances would the wearing of clothes be required (Exodus 20:25-26).  Isaiah 58:7 is not anti-nudity.  If it was, it would very obviously contradict Genesis 1-2, Exodus 22:26-27, and Deuteronomy 4:2, and it would likewise contradict the more subtle pro-nudity affirmations of Genesis 17:9-14, Leviticus 12:3, and Leviticus 14:1-9.  Regarding the latter three passages, circumcision cannot be a sign of a covenant between God and a human if it is not visible, and the priest had to examine a diseased person's whole body to ensure they were clear of their defiling skin condition and allow them back into the camp.

Again, the righteousness of clothing the naked in Isaiah 58 is not about some nonexistent Biblical immorality of seeing the nudity of others, including people other than one's spouse, or having one's nudity seen by them, not even by an intentional, prolonged, sensuous display.  Also, in Isaiah 20, the titular prophet is commanded by God to walk around in nudity to foreshadow what would happen to captives.  Yahweh has no hostility towards the human form he created.  This event is mentioned in the same book which commends clothing the naked in a very particular context.  It is far from difficult to realize that the Bible sees not condemn public extramarital nudity and in fact encourages it.