Uncover the nakedness thereof is pretty straightforward in the OT.
Not much sinning gets accomplished while fully clothed.
That one, "lie with" and sometimes forms of the word "know" are all Biblical euphamisms that mean "have sex".
I heartily disagree. There is idolatry, perjury, murder, coveting... and indeed, if you were to think of the story of the Good Samaritan the people it implicitly condemned (the priest & Levite, both people who should be near God and God's heart, and as Jesus said elsewhere: it is sin for one who knows to do good and does it not) were full-clothed.