I don't like to wear clothes when it is more comfortable not to wear them, like at the beach, or sleeping, and so on... I don't care that much who sees me. But I don't want to offend anyone of make them uncomfortable. I had a female roommate. Non sexual situ. I was pretty sure she had seen me once or twice with the door ajar changing. I did not go around the house nude. We went to Black's beach one day, which is a large nude beach in San Diego. I took my suit off, and she was so uncomfortable that I put it back on. That is probably the only time I have been in that situation. If the context is one in which nudity is not inappropriate, I have never had a problem, even with strangers. It's finding that balance between your own comfort, and your friend's. Glad to hear it all went OK with you and your friends.