My first CFNM happened as a child. There were several instances.
I grew up in 1950's Brooklyn. All the kids played on the street. Nobody wanted to "go in" to go to the bathroom. For girls, there wasn't many options. For boys, there was the alleyway. If a little boy had to go "pee pee" someone, usually an older girl would take him to the alleyway to do that. Very often, younger girls would tag along. I don't think that there was a girl on the block that didn't know what boys looked like "down there" before she started kindergarten. At that age, there was nothing sexual about that, but even then, I thought it was unfair. The girls got to see us, but we never got to see them.
I also bristled at the fact that every babysitter I knew was female.
My first adult CFNM started out accidentally when I was 25 years old. We had a very attractive 22-year-old friend living with us while she was looking for a new apartment. I was working out in the muddy garden when nobody else was home. I came in covered with mud and shed all including wet underwear and left it in the laundry room immediately inside the back door.
I walked down the hall to the shower. I came out, intending to go to my bed room to get dressed when I ran into my guest. Initially, I was in shock just seeing another person in the house which I thought was empty. Then I realized that I was totally naked, without even a towel, in front of her.
She looked at me and smiled. She said, "I was just about to make a cup of tea. Would you like some?"
I got over it and said, "Why not?" and turned heel and led her to the kitchen.
"Aren't you going to get dressed?" She asked.
I shrugged my shoulders and said, "Why should I? You've seen everything already."
She laughed. We spent about a half hour in the kitchen sitting, sipping tea and chatting before I finally got up, went to the bedroom and got dressed.
It was an odd mixture of embarrassment, but yet I was comfortable with the situation. I think it was because she was a very good friend and as sexy as she was, I was not interested in her that way. Beside, I was married and that might have been an issue with my wife
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Other than having several female doctors, I've not been deliberately naked before women other than my wife. I would not go out of my way to engineer a CFNM situation, but I would not object if one should arise with either of my sisters-in-law and another woman who is a very good friend. So CFNM is for me, provided I am comfortable with the women and they are comfortable with it.