I’m afraid to stare in the direction of a clothed woman’s boobs

Staring is generally frowned upon regardless of a person being clothed or unclothed, but one is entirely free to look in a certain direction or do what is comfortable without fear - which includes specifically looking at another person briefly. There are plenty of valid reasons to examine another person and lots of them are entirely innocent.

someone notices, and gives you comments like “go grab her by the pussy” or other disgusting shit

I can't say I've ever had that experience, but you don't have to be uncomfortable if somebody caught you in moment like that.

you would basically need intense therapy to not feel wrong seeing naked people.

People have very little reasons to be nude e.g. in modern American society, but it doesn't have to be weird or sexual. The laws obviously need to catch up first and foremost, but I feel like there's nothing wrong with being naked - even if a person has more ahem overt sexual characteristics that others take note of.

The thing about nudity is that people generally gradually get used to it. The differences become less impactful after a certain point. Sure it takes time, and people who have issues with their appearance and body may have greater barriers, but I don't feel like intense therapy is needed for most.