It's a bit stronger than that, because not only all successful cultures banned public nudity - also all cultures that tried public nudity failed.
Re: topless beach - going to a topless beach once a while vs living in a society where everybody around you is naked all the time are two different things. Imagine a workplace where your female colleagues (if you're a straight male) are naked. There's a reason why some of the best schools in the world still separate pupils by sex.