I know this is a really weird and dumb question, but is there a specific reason why nudity/intimacy became frowned upon in the Irken empire? (BTW I love your art)
Not a weird or dumb question at all.
Their negative perception of emotional intimacy (at least in the modern irken empire) comes from the brainwashed logic of "any undying loyalty beyond that to the tallest and empire is treacherous."
Your job, your empire and your tallest comes first, always. There is no room for dear friendships or lasting romances in a good, obedient drone's existence. To make room is frowned upon.
Physical intimacy is frowned upon in the modern empire because the smeetery provides a steady supply of new smeets so sex is considered unnecessary. Physical intimacy could also lead to emotional intimacy which could spread treacherous ideas and/or compromise a drone's imperial loyalty.
The negative perception of nudity mostly boils down to vulnerability. Being vulnerable makes you weak or an easy target. A nude irken is a vulnerable Irken, exposed to the elements, hazards and harsh judgment of the surrounding world. Nudity is also associated with what they consider primitive or uncivilized lifeforms. In short, nudity is for newborn smeets and animals.
Civilized Irkens wear gloves to handle things, not just grab with bare claws, absorbing germs and leaving dead cells and oils.
Physical intimacy, before the control brain takeover, was not demonized nearly as much, but it had a specific time and place.
Irkens aren't like humans in that they are able to procreate all year around. In pre-control brain times, when Irkens had to repopulate the "messy, primitive" way, they would do so once a year as an all-hive inclusive activity.
Physical intimacy was discouraged then (but not always outlawed) in between mating seasons/ fertility festivals because unscheduled pregnancies could throw off the pheromone signatures of the other drones of the hive and potentially cause a drop in population in following years.
Covering the body (especially the neck, wrists, and everywhere else to be sure) is less about hiding physical features, but more about hiding the fragrance of your skin. Covering up from neck to toe helps to mask an Irken's natural sensual scents from each other.
Glad you like my art ^^ I haven't been active posting art lately. Time, energy and motivation rarely sync for me here lately. I'll have more/ better(?) drawings up hopefully eventually.