C. F. Keil and Franz Delitzsch on Deuteronomy 23:14

Deu 23:14

For the camp was to be (to be kept) holy, because Jehovah walked in the midst of it, in order that He might not see “nakedness of a thing,” i.e., anything to be ashamed of (see at Deu 24:1) in the people, “and turn away from thee.” There was nothing shameful in the excrement itself; but the want of reverence, which the people would display through not removing it, would offend the Lord and drive Him out of the camp of Israel.