Hi, struggling2, welcome to PsychCentral (PC).

I think adult bad boundaries when around children is abuse. Since you were uncomfortable with your father walking around naked and coming into the bathroom when you were there, etc. that, in itself, is abuse. No one should be subjected to another's nakedness without consent and a child cannot set boundaries of that sort with a parent.

I think it is quite possible this has been enough to cause you discomfort with sexuality. I have three older brothers and my mother died when I was 3 and it was just my brothers, father, and myself for a year or two. Not having a strong mother attachment/sexuality role model (my stepmother and I had major issues through my time at home) there isn't any way for such a situation to get worked out until after one is an adult and away from that situation and able to work on it in therapy?