Yes, I have worked nude for someone else. I helped paint the club house at a nude resort. (I know. That doesn't exactly count.) But I also did some small repairs and computer help for a female friend. We had "dated" in the past and she had become a family friend. (Again, maybe that doesn't exactly count either.)
I don't like to get paint or caulk on my clothes. So, paining a room or caulking a bath tub has to done in the nude.
Before I officially became a nudist, I occasionally worked in my tighty whities. I hate to work in hot weather and sweat up my clothes. There were a few women that didn't mind that. During that time I also did some minor plumbing repairs in my underwear at a former convent. I had to remove some old sinks and cap off the water pipes. The water could not be shut off. I had to do a quick switch disconnecting the sink and capping off the live pipe. I didn't want to get all my clothes wet. That time there were only men around. No one objected - or complemented for that matter ;-)