Years ago during my first marriage, my wife and I were close friends with another (older) nudist couple. We were in our 30's and they were in their 50's. Our friendship had started out "casual"; but then evolved into something a bit more "physical" and "playful." Swinging was never on the table; but physical contact certainly was.
We were at a resort, laying on our towels in the grass. My wife was laying on her back. Our male friend offered to give her a massage; which she agreed to. I was chatting with our female friend and we watched from the corner of our eyes. He proceeded to start with her shoulders, working his way down her back. And then he got to her hips and upper thighs. Our female friend and I started getting interested with how far he was going to go; she literally moved to sit closer to me, leaning against me to watch. He did not "disappoint." As he massaged her thighs, opening her legs, he would spread her cheeks open, revealing her butthole. Pretty sure he touched her pussy in the process. Not a peep from my wife.
I can only imagine the "optics" of it from other nudists in the vicinity. This guy with his hands on my wife's ass; while his partner and I were watching, leaning against to each other with my arm around her waist.
But that was how we "rolled." From full-body hugs with genitals touching to lap-sitting and grabbing...we touched each other a lot.