https://en.wikipedia.org/wiki/Naked_yoga
Naked yoga (Sanskrit nagna yoga or vivastra yoga) is the practice of yoga without clothes. It has existed since ancient times as a spiritual practice, and is mentioned in the 7th-10th century Bhagavata Purana and by the Ancient Greek geographer Strabo.
Early advocates of naked yoga in modern times include the gymnosophists such as Blanche de Vries, and the author Marguerite Agniel.
In the 21st century, the practice is gaining popularity, notably in western societies that have more familiarity with social nudity.
Yoga has been practiced naked since ancient times. In the Bhagavata Purana (written c. 800–1000 AD) it says:
”A person in the renounced order of life may try to avoid even a dress to cover himself. If he wears anything at all, it should be only a loincloth, and when there is no necessity, a sannyāsī should not even accept a daṇḍa. A sannyāsī should avoid carrying anything but a daṇḍa and kamaṇḍalu.” [1] Alexander the Great reached India in the 4th century BC. Along with his army, he took Greek academics with him who later wrote memoirs about geography, people and customs they saw. One of Alexander's companion was Onesicritus, quoted in Book 15, Sections 63-65 by Strabo, who describes yogins of India.[2] Onesicritus claims those Indian yogins (Mandanis ) practiced aloofness and "different postures – standing or sitting or lying naked – and motionless".[3]
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Practice is one thing, instruction is another, and I don't see why city-dwellinig practitioners should be mixed up with mendicants and ascetics.
Bare pubes may not be necessary, but even minimal clothing on arms, torso, legs often hides many details that make learning the poses easier, and the lack of clothing on many typical, normal bodies helps normalize what a typical, normal body looks like doing yoga and so helps encourage those of us with typical, normal bodies to keep on practicing.
Perhaps the alternative is minimal underwear for pubes, but why bother, yoga via video is either 99.99% not erotic or 100% a porn movie and it's easy to determine which is which.
Yoga itself is exercise and education. Naked yoga too.