A man is undressed by servants, he is shown from back completely nude
Emma lifts up the back of her dress for a few seconds to warm her backside by the fireplace and shows a bit of the side of her butt.
A man is being dressed by a servant. He is shown nude from the side, but we can't see his genitals. As he walks away, we see his bare butt. While being dressed, he cups his shirt around his genitals as he is putting on pants, but nothing is seen.