Answer:
There is nothing wrong about being naked, and there are places where one go to be naked outdoors called 'Family Nude Campsites or Resorts or Beaches'. It is most unfortunate that we have laws made by uptight people who do not like their own naked bodies, so they wrote laws stating nudity is indecent, and will arrest you. But luck could be on your side because laws can be either eliminated or rewritten. Nudity is perifectly natural andi beautiful, not raunchy or perverted.
Your question is too broad, you need to include what State you looking for. For example Ohio and Nevada you are allowed and New York allows topless, but in all places state you can not act lude, rude, or sexual. There have been Nude Bike Rides in many cities, ex San Fransisco CA, Philadelphia PA, NY NY, all without arrest.