Hi, I had gone through your query and understood your concerns.

Sir, Though no problem just bathing together, better to avoid it. It may cause a stake in his psychological growth. That could be very dangerous in relation to his marital life. though its early to speak, this is the age he grows more sexually and physically. My advice is better avoid it. By now he must be having clear knowledge of sexual organs.

Hope this helps you.
Regards.

I think it is ok to teach our kids nudity...our bodies...are not bad or anything to be ashamed of under the right conditions but there are social rules where and how we show it...it usually just comes natural to stop bathing showering etc. with them I wouldn't hesitate to run to the phone naked or allow them in the bathroom if the need was there but see no reason to parade around in front of them...each family and relationship is different but I have to say in my opinion 7 is to old...