Hairy balls, hairy arms, it’s the same skin. Rubbing the balls is offensive as a cultural construct. No-pants rights don’t grant the right to be offensive. People are allowed to open their mouth but licking the desk is still unacceptable. Touching somebody who doesn’t want to be touched is offensive, even while wearing gloves or using a stick.

However people not wearing pants would make society reevaluate the social constructs about nakedness. People are trained to be ashamed about parts of themselves. It’s like being colored in a racist society, but for everybody.