I also have no problem with being naked and seen by others. I'm in the "incredibly average dick" category but enjoy seeing and comparing other cocks and in some cases, wishing I had more than I have.

I haven't been to a nude beach in a couple of years (used to visit Haulover Beach in FL every May for my "Four Days of Nothing but Beach" vacation. Now all I have time/$$ for are a couple of "nude required" single-sex places in the area. These places are pretty uptight about "innocent" behavior such as casual self-stroking and will either eject you or call the cops unless you're really discrete about what you do.