If it's about getting to be more comfortable, try being nude around the house. The more natural it seems, the easier it'll be.
Also, you might try to start taking off your pants as you are going into a stall at a public restroom, not once you're in it.
Then there's the idea of flashing where no-one can see you in public, like in a movie theatre when the lights drop and people's eyes are still adjusting.
These three ideas should help you feel more comfortable so you can do it more publicly.
Or, on a similar note, you could get a body painter to paint a swimsuit over you. I saw a Ripley's Believe It Or Not in which a guy did that to some girls and had other girls wear actual swimsuits. The crowd they were showcased in front of couldn't tell the difference, even though half of them were nude.
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