Naked.
When I read some of these situations, I'm thankful that most everyone in our part of the state has fencing (privacy fencing) around their homes. We've visited places where there is zero privacy in one's backyard and we could not live like that.
We have been seen countless times by the lawn guy, the pool guy, next-door neighbors, neighbors across the street. We never intentionally expose ourselves, but they've seen us, nonetheless. We agree that intentional exposure is not the best way to be a neighbor. BUT, since these neighbors have never said anything to us or called the cops, we continue to live as we have lived for 5 decades.
For our next-door neighbors, they seem fine with it. He's tall enough to see over the side fence between us and has seen me/us shower outside, laying out, skinny dipping and doing yard work. He waves, smiles and doesn't gawk or stare. They are still friendly and have trusted us to get packages and put them in their garage or house. I guess they figure the naked people next-door aren't really so bad!