Does anyone have any verse citations indicating that anyone is obliged to wear anything at all, ever? I know one's gut can say that covering up is necessary, but did God ever say that; clearly, and unmistakably? If there is a commandment, I would expect to see it in the Torah, since this matter isn't exactly a new thing.
I'm not aware of direct commands to wear clothes, only regulations regarding the clothing and of course there are modesty ethics in wisdom literature.
In this week's torah portions acharei-mot & k'doshim,
command to not mix certain fabrics in your clothes:
Lev. 19:19
אֶֽת־חֻקֹּתַי֮ תִּשְׁמֹרוּ֒ בְּהֶמְתְּךָ֙ לֹא־תַרְבִּ֣יעַ כִּלְאַ֔יִם שָׂדְךָ֖ לֹא־תִזְרַ֣ע כִּלְאָ֑יִם וּבֶ֤גֶד כִּלְאַ֙יִם֙ שַֽׁעַטְנֵ֔ז לֹ֥א יַעֲלֶ֖ה עָלֶֽיךָ׃ (פ)
My precepts (commands) you shall keep, your cattle you shall not cross-breed, two kinds you shall not sow your field with two kinds, a garment of two kinds, šaʿaṭnēz (shatneyz) shall not be put upon you. [shatneyz is traditionally interpreted as wool mixed with linen/ it's an Egyptian word].
This one I think is fairly clear as it commands us to wear fringes (like what the woman with issue of blood touched on Yeshua to be healed), and it gives the prescription for where to put those fringes "on the corners of your clothing".
דַּבֵּ֞ר אֶל־בְּנֵ֤י יִשְׂרָאֵל֙ וְאָמַרְתָּ֣ אֲלֵהֶ֔ם וְעָשׂ֨וּ לָהֶ֥ם צִיצִ֛ת עַל־כַּנְפֵ֥י בִגְדֵיהֶ֖ם לְדֹרֹתָ֑ם וְנָ֥תְנ֛וּ עַל־צִיצִ֥ת הַכָּנָ֖ף פְּתִ֥יל תְּכֵֽלֶת׃
Nu 15:38
Speak unto the children of Israel and say unto them, that they should make for themselves fringes upon the corners of their clothing for their generations, and that they should set among the fringes a thread of techeylet (a vibrant blue color, the the color is challenged by some).
example of righteous from Judah wearing clothes (to be grabbed)
Zechariah 8:23
כֹּ֥ה אָמַר֮ יְהוָ֣ה צְבָאוֹת֒ בַּיָּמִ֣ים הָהֵ֔מָּה אֲשֶׁ֤ר יַחֲזִ֙יקוּ֙ עֲשָׂרָ֣ה אֲנָשִׁ֔ים מִכֹּ֖ל לְשֹׁנ֣וֹת הַגּוֹיִ֑ם וְֽהֶחֱזִ֡יקוּ בִּכְנַף֩ אִ֨ישׁ יְהוּדִ֜י לֵאמֹ֗ר נֵֽלְכָה֙ עִמָּכֶ֔ם כִּ֥י שָׁמַ֖עְנוּ אֱלֹהִ֥ים עִמָּכֶֽם׃
Thus says the L-rd of Hosts, "in those days when 10 men from all the tongues of the Gentiles, they will indeed grab hold of the garment hem of 1 Jew saying "let us go with you all for we have heard G-d is with you all".
idyllic state of the saints, given white robes ....
Revelation 6:11
καὶ ἐδόθη ⸂αὐτοῖς ἑκάστῳ⸃ στολὴ λευκὴ καὶ ἐρρέθη αὐτοῖς ⸄ἵνα ἀναπαύσονται⸅ ⸂ἔτι χρόνον⸃ °μικρόν,* ἕως ⸆ ⸀πληρωθῶσιν καὶ οἱ σύνδουλοι αὐτῶν καὶ οἱ ἀδελφοὶ αὐτῶν ⸇ οἱ μέλλοντες ἀποκτέννεσθαι ὡς καὶ αὐτοί.*
And each of them was given a white robe and were told to wait yet a little while longer until might be fulfilled/completed their co-servants and their brothers who are about to be killed even as they were.
1 Timothy 2:9a
Ὡσαύτως ⸀[καὶ] γυναῖκας ἐν καταστολῇ ⸁κοσμίῳ μετὰ αἰδοῦς καὶ σωφροσύνης κοσμεῖν ἑαυτάς,...
Likewise that women with respectable clothing with modesty and moderation should clothe themselves ....
Dt. 22:5
לֹא־יִהְיֶ֤ה כְלִי־גֶ֙בֶר֙ עַל־אִשָּׁ֔ה וְלֹא־יִלְבַּ֥שׁ גֶּ֖בֶר שִׂמְלַ֣ת אִשָּׁ֑ה כִּ֧י תוֹעֲבַ֛ת יְהוָ֥ה אֱלֹהֶ֖יךָ כָּל־עֹ֥שֵׂה אֵֽלֶּה׃
The garments (literally instruments) of man (lit. strong man) shall not be upon a woman and a man shall not dress with the clothing of a woman, for n abomination (to) Hashem your G-d anyone who does these.
The assumption here by G-d giving this command is clearly not that everyone will be naked therefore "clothed the same".
Proverbs 31:24
סָדִ֣ין עָ֭שְׂתָה וַתִּמְכֹּ֑ר וַ֝חֲג֗וֹר נָתְנָ֥ה לַֽכְּנַעֲנִֽי׃
She makes linen clothing (perhaps underwear-word disputed), and she sells them, and a belt/girdle she gives to the merchant.
So the "eyshet chayil", "woman of valor" makes and sells underwear and belts...
I'm running out the door now, I may add to these later...