I thought I was the only one that thought about this

Mom's will sometimes take baths with their little ones because it's easier than bending over a bathtub. Don't read into it and make it something bad.

Or if they're bleeding and need the wound cleaned and are freaking out and need to be comforted/held.

Not even once that I can remember. I understand people do this with infants and such, but I PERSONALLY feel like if your kid is old enough to talk about it, you probably shouldn't be naked with them.

Mine are very little but you'd be surprised how early they ask about things/notice things.

No, I know, but that is still my opinion.