My ex-wife and I used to hang out at nude beaches and remote campsites with our friends when we were in our early 20's. A couple of my friends and a couple of her friends found their way into our bed on separate occasions.
We were drinking in the mountains one time and I broke my ankle falling off a boulder. One of our female friends jacked me off while I was in lying down in pain. I woke up the next morning and our whole camp was naked on the rocks around the swimming hole. Unfortunately, my ankle was so swollen that I made us have to leave to get me to a doctor.
One of my old girlfriends used to take her top off in the car (on roadtrips), kick the seat back a bit, and give the truckers a show. She really got off on being nude in public.