I do all the time. When I travel from NW Chicago to Cleveland or Columbus or Cincinnati the first thing I do when get out of the neighborhood is take off clothes and do the drive naked, 7 hrs. I do get dressed when stopped for gas or rest area. In Columbus now and looking forward to my drive back home tomorrow.
I drive nude on occasion, primarily when alone, wife is not happy with me driving nude. So as I say it is when alone that the clothes sit in the passenger seat. We live in a rural area and It's mainly two lane so it is not to risky that unless another car passes I'd be visible.
Last nih it I really got daring and took out my trash up to the bin. It sits next to the state road that fronts our property. Actually I don't think it was that daring at all. As I said we live in a rural area with a few small communities near, so passing traffic is not a huge problem. One truck did pass so I just stayed next to my truck till the vehicle passed. Not real daring but I enjoyed the little thrill never the less.
My wife does not really like me driving naked but she did come with me for one of my naked drives on holiday a couple of years ago.
As far as putting the rubbish out our road is moderately busy with commuter traffic and school buses in the mornings so I have to be careful about being seen. Usually standing next to the heavy brick gateposts is enough except for the buses but on one occasion a lady stopped at our gate while I was standing there to ask the way. I obliged of course and nothing was said about my nudity, in fact the lady acted as though it was a totally normal situation.