I have a group of guys that I go wilderness camping often in the Spring and Fall. Haven't been this year because of "all the shit going around™."
But when we primitive camp and hike we're not modest. It's a survival thing, and there's really nothing sexual about it at all. All of the men are married, and they're much younger than me. Their wives think I'm the momma figure, but the guys will tell you outright that I ain't dainty at all. And I don't momma no one! You're a big boy and nobody's going to carry your backpack.
We don't take turns bathing in the creek. We've got ground to cover, and nobody's got time to be a lady or gentleman.
So, my kind of naked guy camping is a bit different than what you're looking for.