Good answers.

Around here, yes, you could be cited for indecent exposure. So, you need to be careful. I'm not sure if you were wearing boxers since they're not that different than many swimsuits. Our lawn isn't fenced in and so we couldn't be nude in our back yard, but I wish we could. Keep thinking one day I'd like to have a privacy fence that would make it possible to go nude in the yard. I'd still have to schedule things to avoid the kids, though.

My wife and I have several times spent days/week at a naturist (nudist) resort and loved being able to simply be nude all day. It was wonderful. Sex still required privacy, but just being nude was great.