Before baths were widespread, most people (male and female) would wear a shift or smock under their outer clothes, and keep it on basically all the time - you'd live in it, sleep in it, wash yourself in it ("as far as possible") and when the time came die & be buried in it. You would basically never be "naked as the day you were born" - and when somebody was described as being naked, this would often mean "stripped right down to their smock".

That's how I envisage the 'naked woman' in Three Jolly Butchers/Sportsmen - in an apparently humiliating & vulnerable position, but not actually starkers by our standards.