Privacy Issues

My 15 year old daughter and my husband are having issues. He (58M) refuses to shut the bathroom door when he uses the restroom or shower. He also has a bad habit of just walking in the room when the door is closed if it’s unlocked. She understandably gets upset that she will Go to Use the bathroom and he will be in there sitting on the toilet or in the shower. I have asked him multiple times to shut the door and he will for a day of two then go back to leaving it open. I say that since she is 15 she shouldn’t have to worry about walking in while he is naked so the door should always be shut while anyone is using the bathroom. He says she needs to grow up and deal with it. He shuts the door when my sons gf is at the house but not any other time. AITA? I believe that once kids reach a certain age they are entitled to their privacy and should have the expectation of not walking in a room to see their parents naked. He also walks around the house in his underwear which I also think he should not be doing. She has told him he is being inappropriate he just laughs at her.