The last two days I've been totally nude. We had another couple who knows of our nudity stop over last night and I stayed naked. They had no issues.
Doctor appointments all my life. As a kid even through my teens I would strip down completely and hated those gowns. As a adult not much has changed I dress in a tee shirt and shorts commando with sandals. Once in the exam room I am down to shorts. At my dermatologist about halfway through the exam I drop them completely. My doctor loves not fighting a gown. There is always a assistant and often a nurse will pop their heads in. A mix of reactions from OMG to carry on as normal.
I used to do figure modeling for a university art class. I would be nude in front of clothed artists as they would draw me. It was a fun useful time being nude.
I go nude all the time but my wife doesn't. She just isn't into it. But she has no problem with me being naked. We still have our normal conversations, I am just naked when we have them and has clothes on. No biggie.
Both my wife are nudist, however as she got older she started wearing T shirts to help keep her boobs in check. But nothing underneath it.