My wife is much more likely to "out" me when people unexpectedly drop in, than I am with her. She'll just say I'm out back, naked, sunning himself, working in the yard, or swimming. She'll then come get me (meaning she'll ask that I at least put a towel around myself before I come in). I'm pretty sure that if they were to say it wouldn't bother them, she'd just let them come out and I'd be perfectly fine with it.
On the rare occasion that a neighbor or delivery person has gone through the fence and run into me naked, I've acted no differently than if I were clothed and let it be on them for coming in unannounced.
One of my wife's sisters lives nearby and stops by often. I expect that one of these times she'll intentionally go out back, knowing I'm naked. She'll try to make fun of me, and I'll stop getting dressed when she's around. So there.
We have had a few guests who when told that we normally would be nude in the pool or tub, have asked if they could join us that way. Likewise, once that's over with, them being nude and us being nude is OK thereafter.