sure, youre born naked. that isnt reason enough to walk around naked. can you imagine how complicated itd be to have clothing forming in the womb as well?
youre also born crying [im guessing], should you walk around crying? that would be incredibly annoying as well.
the real issue here is conforming to societal norms - and when its acceptable to break them. obviously societal norms rule in any society, and you make societal norms when a majority of people decide "this will be the norm."
example: when youre in your home [alone], you comprise 100% of the population. societal norm for you then might say its okay to walk around naked. well, its okay because no one in that society cares. but go into the larger world [say . . . wally-world], and suddenly youre a much smaller aspect of society, and that society is so large that norms take longer to change [call it inertia]. you might decide you want to walk around naked in wally-world, but the society still says its not the norm, and you will be ostracised as failing to fit the norm. in some cases you will even be confined away from society in something like a prison or a time-out.
summation: when you comprise the majority of a society, you make your own norms and can do what you want within that society. but once you become the minority, you have to hold yourself accountable to society'* whims or the society will hold you accountable.
society says "no shirt, no shoes, no service" - wear shirts and shoes. pants are optional apparently.