Perhaps Scripture indicates no return to the nudity of Eden because the wearing of clothes was always God’s plan. Adam and Eve had just come into the world. We, too, came into the world naked but that doesn’t imply that God intends us to remain naked. Adam and Eve were husband and wife. That alone might have been the reason why they felt no shame. Maybe had sin not entered humanity they would have felt the need for clothing once the world began to be populated, while continuing to be unashamed when alone together.