Littérature du Second Temple sur Le Lévitique 10:5

[57] Nadab and Abihu, too, who had drawn nigh to God and had forsaken the mortal life and become partakers of the life immortal are beheld naked of vain and mortal glory. For those who carried them away would not have borne them in their coats (Lev. 10:5), had they not become naked by bursting every bond of passion and of bodily constraint, in order that their nakedness and freedom from the body should not be debased by the irruption of impious thoughts. For not to all must leave be given to contemplate the secret things of God, but only to those who are able to hide and guard them.

Freedom from passions (one of the meanings of “nakedness”) is illustrated by Moses setting up the Tent of Witness outside the Camp (Exod. 33:7); by Aaron entering unrobed (!) into the Holy of Holies (cf. Lev. 16:1 ff.); by Nadab and Abihu leaving their coats (or irrational parts) for Mishael and Elzaphan (Lev. 10:5); by Abraham leaving his country (Gen. 12:1); by Isaac being forbidden to go down into Egypt (i.e. the body, Gen. 26:2); and by Jacob’s smoothness (Gen. 27:11). (54 ff.)