Like anything, clothes can add to or detract from sex. I get the immediacy thing, that's hot, just move a few things for good access. Even better is when clothes serve a purpose, aesthetic or functional. Sex-specific clothes, a costume if you like, whatever it may be. It all adds to the mental whole. But yeah, naked is always lovely too lol
Idk why but doing things with cloths on especially if it hides the action is very much yes. In public or otherwise. Plus if its an actual character from some ip the clothes feel apart if their identity/character.