It's all context. My wife (albeit extremely rarely) will be naked around total strangers, but hates the idea of being even in underwear around people she knows, even her own sister.
I, on the other hand, strongly prefer to be naked around my close friends and family rather than strangers.
But it's all context. Nude beaches and similar everyone is nude and for their reasons. Biker rallies, fewer are nude and they are for completely different reasons.
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