Yes Ric, but it's still worth remembering.
Naked in my own home? Yes, what's the problem? The only potential embarrassment is that I have 2 daughters, growing through their teenage years, and the younger one has no perception of modesty. It's double standards I know, but getting visibly aroused at the sight of young girls is one thing, when they are family it's "not right". Sure, it's my problem to deal with.
Public nudity, on the other hand, is liberating. There is that nervous risk factor to overcome. It's definitely unseemly to have a stiffy in public. Going swimming in the sea is so much easier than when wearing a cossie. When clad, even in light summer swimwear, there is a cold shock as the waves hit the covered areas. When naked there's just no edge line and no clinging wet lycra/nylon when you get out.
I don't think I'll try the technique at a triathlon though.