I was fortunate enough to get a few early in the morning nude walks this summer. The freedom was amazing.
A long, long time ago my first partner/girlfriend and I went for a walk along a beautiful sandy Northumberland beach just after daybreak at the height of the summer during a heatwave. There wasn't another soul in sight so we put all our clothes in our bag and walked naked and barefoot on the sand. After about half an hour of enjoying our stroll au naturel in these lovely surroundings, we realised that we weren't alone on the beach. An old couple had been ahead of us and were now walking back towards us from the end of the spit. Embarrassed at being caught out in the nude by them, we hastily put on our swimsuits. As the elderly couple passed by soon after, we realised that they were both stark naked. They must have thought we were a right couple of plonkers.
You both did what you thought was right, that can't be a bad thing. You should've just say hello to them and say we do the same thing sometimes.