Let's not encourage shamelessness in general! Shame is a great emotion: it results when others see us doing what we know is wrong. Shamelessness is a cancer in our current political culture. I tend to agree with you about shame's incompatibility with joyful and mutual eroticism, but even in erotic experiences, there are things that one should be ashamed of, right? E.g. non-consensual non-consent, pedophilia, deception.

But I love your core observation about trusting our bodies.