Friednly bond

Iam 20 y/o boy who grew up without father. My male model was friend of my mother. Mom and dad divorced when i was a baby. Well, time from a baby to this day, i didnt get any specific example how to behave like a man and behave like the man, because friend of my mother had already divorced his wife, before he met my mother.I didnt use to speak with him much. However, i found a guy who is contemporary to me and i found my manly model in him. We talked about everything of our lives, also he comes from family without father, his father dont care about him.Maybe this is an akward question. Should we see each other naked to bond our friendship, should we be not scared about it ? Iam not gay or anything, but i dont have any experience about that.

Thanks for answers guys.