In college, I came in late one night and began to undress to put on my pajamas. Stripped down to my underwear before slipping on pj shorts and tanktop. I didn't realize my roomy had a guy in her bed and he was staring at me. I called him a pig and turned off the lights and got into my bed. I was pissed at first. But remembering the look that was on his face when I discovered him looking at me made me a bit tingly. He was so mesmerized by my body. Never really had any other accidental exposures.
Early 20's with friends back home there were 3 guys, 3 girls in the hottub. None of us had bathing suits so we all agreed to go in just our underwear. The guys tried talking us out of our bras. I said I'd take off my bra if all the boys took off their underwear. OMG, they stripped so fast. I took my bra off and got in. All three of them had erections growing before our eyes. They couldn't keep their eyes off me. I liked the effect I was having on them.
That's about it for being seen naked other than skinny dipping with a partner. I've always thought if I went to a nude beach if there were others around, I might do it. As I get older, the urge is fading. My current relationship, who has been to a few nude beaches, suggests we try it if we are ever in the vicinity of one. Not sure though.