never been to a nude beach
The settings between nudist (clothing-optional) resorts and nude (clothing-optional) beaches are quite, almost different. You have the sandy beaches, the sea (waves) and sea sports at the beaches, that most of the resorts don't have. Unless you're talking about nudist resorts that are located at the beaches, with the beachfront cordoned off from the public.
Yes, the nudist beaches are rather open to the public and anyone can just walk right in, eg. the textiles (non-nudists), the voyeurs, perverts, pickpockets etc. So they are not as safe or secure compared to the nudist resorts.
I have been to many nudist beaches and resorts, all in Europe. Nearly always I use the resort as a base from which to explore the nearby beaches. It avoids being confined to a single place. Almost all the resorts I go to front onto a nude beach. Even there the distinction is that the resort is private (residents only) whilst the beach is public. On my last holiday I did go on a beach which was nude-only. The entrance was not clear to those without some form of information and it had a Nude Only sign. Any form of clothing, or swimwear, was banned. In that respect it had the privacy associated with a nude resort. That is exceptional though I have been on other nude only public beaches which similarly had no textiles present.
When not attached to a nude resort the nude part of a public beach is remote from the car park and the facilities. As a result few textiles will venture as far as the nude section. The beach at Maspalomas (Gran Canaria) is a complete contrast. It is a long, thriving, very popular nude beach with many beach bars. There is a constant flow of clothed people walking along the water's edge, several deep. There is no way of knowing if they are fellow nudists on their way to a spot on the beach OR textiles coming to look at the nudists. In a lot of other CO beaches textiles mingle with the nudists. The simple answer is not to mind anyone looking at you. That way you escape the confines of the (nudist) resort without any worries. It is so free-ing you will wonder why you didn't do it ages ago.
Maybe I would say that, being someone who stands naked waving at the tourist boats routed to see the nudists. If they want to look I'm happy to support the tourist industry. But I think back to the first time I went on a nude beach. As soon as I threw off my inhibitions I felt open, relaxed and free! As they say the rest is history.