I like being nude when i can.....maybe not completely nude but at least with no undies...the feeling of your dong swinging around is great!!!
Unfortunately,i do not live alone,so the occasions are rare....
So i often stay naked while in hotel rooms,especially when i go to bed. The problem comes when i have friends to share it with,who have issues with that...
My best friend and i used to spend most of the time naked when on holidays....we used to rent a house to be more free and strolled around with our cocks out when home....those were really good times! We felt pretty natural about it....the freedom sense it brings is unbelievable!
To answer your answers,what we did was just doing the normal things we had to do,but naked.
The craziest thing was....well,were the jerking sessions together happening when we both were very horny,that could last for hours! we were so tired at the end that we fell asleep right away and woke up,still naked,a long while later!