Sometimes while I'm doing something I just realise that I'm naked and should probably put clothes on. So I'm never willingly naked except in the shower
Sometimes I wake up nude, usually a fap before sleep, walk to the kitchen to grab a snack whenever no one is home, and be so lazy I don't feel like putting on clothes until I have to leave the room again.
When it's hot I'm usually going full commando. When I use to live with my brother I walked out of my room without realizing that his girlfriend came over to visit. Without making a big fuss she held up a newspaper over her face and I slowly walked backwards into my room.