I grew up in NYC, and saw lots of things as a kid, including very mentally unwell people running around naked.

Is it a problem? Yes. It's a problem for them; they were very clearly unwell. Was it a problem for me? I didn't really know how to react as a kid, and more than anything else I remember being sobered rather than traumatized by what I saw. If anything has maladjusted me, I don't think that was it.