City or Highway
The only time I drove naked in busy town traffic was totally accidental.
I had intended to stop to dress before entering the town but the traffic was too heavy and I ended up having to dress in a busy town centre car park after braving the busy market day streets.
I've never made a journey just so I can drive naked, but love it when I can.
Most of the time drive with my shirt still on, but unfastened. This is because most of my driving is commuting to/from work and it involves a lot of traffic queues.
Having said that, I have driven naked in standing/queueing traffic on a motorway that closed and then through a very congested city centre trying to cope with the diverted traffic. Everyone was so busy concentrating on edging forward than nobody noticed.
My only *semi* regular naked drive is either early morning or very late at night and most of the journey is through country lanes. These are the journeys that I really love. I drive through two small towns, so shorts over my lap suffice for these parts
In cities those most likely to see into my car are pedestrians. On main roads, and in congestion, the biggest risk is from lorry (truck) drivers and coach passengers. In both cases there can be stop-start traffic. I regularly drive naked through both without any cover in reach. I haven't had a problem - yet. BTW my naked driving includes through 6 European countries.
Almost all of my nude driving is on highways, which may include multilane expressways when I am passing through a city or through a small town without stop and go traffic. It is sort of inconvenient to mess with undressing and dressing for a short distance in my home town, and watching for pedestrians at a stoplight.
As a trucker, I've always preferred the highway. I've put on many a naked mile simply because of the comfort. I was able to put on several hundred more miles if I stripped down naked. Threw small and big towns. Was easier and safer because most of my miles were done at night.
I have done both as well, and I also prefer highway driving. Recently though, I have driven around town after doing shopping and errands usually at night. My favorite is driving to a post box to mail cards and letters with no clothes in the car. Making it truly a nudist experience...
It just depends on where I am going. Don't really drive the city to stay very often, yet sometimes. Most driving is because that is the way to get there. It is mixed of city, country, or highway. Got to get to the beach, a hike, or resort somehow.
Only had one truck driver that seemed to notice among the many times. Driven by police, fire, and construction with no problems.