He wants us to walk in freedom from shame. In hope and love. To not hide our true self. To be in community with others. To experience love, grace, hope, and peace. He is the opposite of shame and never deals with us in shame.
Unconditional love is the opposite of shame.
Go deeper, read You Are Not Meant to Live in Shame, post 1 and Shame: Recognize It, Heal From It, Walk in Freedom, post 10. Also post 12, Spiritual Shame” What Is It and How to Conquer It.