Women... y'all a crazy bunch...
The whole underwear vs bikini thing always confused me. Why freak out if someone sees you in your granny panties when you're completely ok with wearing a skimpy bikini? I guess it's different because I'm a guy, and I have some sort of logic in my favor... whatever.
As for being naked, yeah, I'll get naked in front of pretty much anyone or anything as long as they don't have handcuffs and a squad car. Naked cliff jumping is not recommended though, the ball slap is tremendous.