As I've mentioned in other posts, when I'm home south of the Equator I have pool with a completely enclosed back yard, high fence densely overgrown with tropical vines. So iI usually walk in the door, go to the terrace, take off and throw sweat-soaked clothing in an area designed specifically for sweat-soaked clothing, rinse sweat off body under a shower head disguised as a water fall, and then spend most of the day and evening in and out of the pool naked and very comfortable.
When someone does make it past the gate and to the front door, we have an ever-growing collection of one-size-fits-all 100% cotton bath robes (batas) hanging in the foyer to throw on and greet guests. Only when The Squeeze invites his boss over (she's in her 70's) do we go out of our way to remain modestly clothed. But I doubt she'd care if we entertained her in our home, lolling around naked EXCEPT when sitting and having dinner. Nude dining just doesn't cut it. And we don't cook naked.
So far there hasn't been a problem with anyone under 18 being exposed to a couple of gay men (us) romping around on our own 1 hectare out in the province. Our twice-a-week house keeper (mucama) would LIKE to work about the place naked, but he's strictly forbidden to even consider it. So, we'll lounge around in bathrobes when he's whipping the place into shape. He is also not allowed to use the pool.
Male and female guests who come to visit often end up naked splashing about in the pool. But it's optional. No one is required to display their goods.