I didn't really mind the nudity because as stated it was in a non-sexual manner, there was nothing shown in any of those scenes that implied it to be fanservice either though everyone I suppose has a different way of viewing so-called "fanservice". Certain scenes with nudity showcased in them were meant to show the reader the daily tasks of maids (i.e.: The scene where Emma is helping the Mistress bathe). The scene that you are speaking of with the maids bathing was to showcase how the help were treated (aka: they are nothing special), bathing in those times was like a cattle-call almost! Just one after the other and using the same water. Also, the topic of their discussion as well in that scene gave you more insight as when did maids get a chance to gossip with another either except on these rare bathing occasions and whenever the Master/Mistress of the house was not around. This is how I perceived all nudity in Emma. I think Miss. Mori through her attention to detail and all things maids is always trying to show the reader something new or what one may not know about the era, fashion, social standing, or characteristics of maids. I do not believe she meant it as a vice for gratuitous rear/chest drawings.
I believe Miss. Mori did it very tastefully in my opinion. ^__^ Was the nudity needed? No, if it were all edited out the manga would've been just as amazing but I believe she opted not to do that as to make it more real for the readers.
Also, female nudity doesn't bother me at all as I am female so I suppose it is different for others.