I've been the only one naked, twice.
Once, I went skinny dipping with my wife's family. No big deal, actually, although I was the only one naked.
The other time, I was giving my infant a shower. My wife's entire family and two of her friends came over. We had a clear shower door which never fogged up and she had the bathroom door open since the fan didn't work. The front door was also clear and you could see from the front steps straight into the shower. Each person who came to the house saw me, one at a time, during the entire shower.
I asked my wife and anyone looked and she said that they all looked as they took their shoes off and they all took their time--her mom, her dad, her sisters, her brother, and her two female friends.
No one mentioned it or talked about it once I was dressed and joined the group with the baby about 20 minutes later. It was so fun knowing every single person had seen me nude and no one even mentioned it. This was two years ago and still no one has mentioned it.