I'll get a massage up to once or twice a month, and usually keep the same therapist for years and years. Bunch of little stories, but with the good "legit" therapists, I've never introduced the mutually-nude, mutual-touch scenario that I'd like to... If they're good, I'm leery of hurting the professional relationship by asking them to go beyond their boundaries (my state is a big enforcer in that regard), and I'm well-practiced at rubbing out my own "personal needs".
That being said, I've gotten some nice, non-professional massages that included sensual/sexual touch, mutually nude, etc. One beautiful bodybuilder would coat us both in oil and body surf, and was just a sweet, kind person. A friend of mine did massage, and the release he gave me while I was so very relaxed was so fantastic. Another guy gave a nice massage and stayed so, so hard all the time we were together...
I'm in-between massage therapists right now and the current potential is from out of state, doesn't have the local state license, and advertises on one of the gay massage web sites. Very good, and very attractive. On my first visit, he told me to "undress to your level of comfort and get in-between the sheets" on his massage table. In other words, cover up. Still, I'm getting some indications... I sent him an email from a name that isn't mine and asked if he does mutually nude sensual massage. His reply was "this is something we can discuss on your next appointment." ... I look forward to it...