i have stayed in hotels where housekeeping has knocked and i answered the door naked and stepped aside for them to clean. These were standard hotels and motels not affiliated in any way with nudism. Some continued to enter and clean some said they would come back later. I believe it is up to the staff to decide if they are comfortable in cleaning a room with a naked occupant in it. I would like to think that it was exciting for both of us.
I used to travel a lot with my job and would always strip off as soon as I was in my room. I never had an issue with staff but wished I could have been caught from time to time to liven things up a bit. I have sat on the balcony of my rooms many times and never had any issue or comment. Would have been nice to find others doing the same thing and then hanging out for a drink.
I stayed at a very old basic 2 star motel on the Gold Coast between Christmas and New Years just gone, nude indoors all the time and last morning I was shaving nude so back to door thought I heard a knock next thing the cleaner an older lady was making her way in via the sliding door with curtain closed, managed to step into shower so she could only see my face n chest looking past the doorway, she apologized she was just checking the key as it had been lost for awhile. all good no one embarrassed at all. Talked to her when heading to my car and she apologized, I made joke that lucky she hadn't been exposed to this old dad bod, but she said that would have been fine with her! Thought about grabbing the key back off her redo-ing the incident with more showing LOL