There might just be a typo toward the end; but maybe not considering the Romans.
The Romans were apparently actually rather prudish. (Sorry for the cite…it’s the best linkable one I could find.)
I’ve seen it argued either way. Another possibility that has been suggested is that some Romans were rather prudish in public, but other Romans in private were rather not. Like modern America.
Dibble’s first law of sociology: Some do, some don’t.