So, having someone watch you... say, do things you would only absolutely ever do if you were completely alone... does not count as a grotesque and horrifying concept?
Eh. I don't find it so, not in this context. I'm not special. I've never had a single unfair, uncharitable or embarrassing thought that a million other humans haven't had similar. I don't have any kinks that are kinkier than any woman has ever been. I keep a lot of secrets for a lot of people, and most of them are astoundingly similar. People aren't that different.
And anyone who can read minds knows that. My shameful carnal lust for unpeeled bananas or whatever may be something I only indulge in in the dark of night because everyone I know will mock and reject me. And that makes sense, because as far as any of us know, I'm unique and a freak for that, and when they find out it's something new and unusual and a big deal.
A telepath, on the other hand, would be able to tell that they're all hypocritically hiding the fact that they're into dogs, roof shingles, and golden showers, and has already met three people today who get off on kiddie porn, and is going to find my banana fetish rather uninspiringly dull. My shameful secrets may be as easy for him to see as it is for me to see how tall someone is; that just means that he cares about them as much as I do about someone's height as well. I can't feel weireded out by a guy seeing me naked when his entire universe is a nude beach, y'know?