The quantum statistical Clausius-based equation of state is used to describe the system of interacting nucleons. The interaction parameters $a$, $b$, and $c$ of the model are fixed by the empirically known nuclear ground state properties and nuclear incompressibility modulus. The model is generalized to describe the baryon-baryon interactions in the hadron resonance gas (HRG). The predictions of such a Clausius-HRG model are confronted with the lattice QCD data at zero and at small chemical potentials, and are also contrasted with the standard van der Waals approach. It is found that the behavior of the lattice QCD observables in a high-temperature hadron gas is sensitive to the nuclear matter properties. An improved description of the nuclear incompressibility factor correlates with an improved description of the lattice QCD data in the crossover transition region.