At home as kids we had free rein, but not on the road or in unsafe public areas. The beach and some parks and or partys were ok too, but like everything there was a time and a place. That was my parents choice, and then ours.
Now, well my youngest is 15, they have had free rein, but only behind a decent fence at home, or while they were up to about 3-4 in safe beach or park like areas with supervision and common sense. That is our choice and now my kids choice.
We all have the choice and we embrace the children for being as educated as they are about their bodies and for being confident to be bare or not, and the two best things. They understand they have a choice and on their own they make those choices. 2nd, they do not have body issues and hangups that many kids do/did or will have as they get older. Health and diet issues yes, but embarrassed by their or our 'bits', not an issue.
Shade, sunblock and or hats and lots of drinking water etc are all just common sense parenting whether nude or not.
Two key terms are all that is needed. 'Time & place', and 'common sense'.