No worries
Just relax and don't overthink it!
My wife and I always enjoyed being naked when alone or with only strangers around (lake, beach, sauna, ...)
Up to about 2 years ago we never saw any of our friends naked. But as we get older (30 now) everybody get's more and more relaxed about nudity.
So we've recently been to saunas and nude beaches with a lot of our friends, sometimes only two couples, sometimes larger groups and it was always super chill and fun. Nobody was embarrased, nobody stared or made any comments.
It didn't change our firendship at all. Maybe it even strengtend them.
And don't worry about your size, I'm a "grower" too. Just enjoy your time. No worries.
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