No, but not because it's embarrassing (I'm hardly going to embarrass myself with my own body), but because it's impractical.
Most of the chemicals used in cleaning products aren't great for the skin and I also don't want to lug around a vacuum cleaner, a steam cleaner, a lawn mower, a metal ladder etc. without a least one layer of clothing between their hard, abrasive and sharp exteriors and my skin.
Not to mention the inherent danger of operating machinery (even if it's only minor domestic devices) with your gentiles hanging free.
I don't want to be the first person in history to go to A&E with their dick stuck a vacuum cleaner or other appliance (or another tool stuck in me) because they were genuinely doing the housework nude... no one would believe me and they'd all think I was some kind of depraved pervert.