A friend told me about a practice he does and I've started to adopt it.
When I'm expecting a delivery, I state that I live in a clothing optional household in the special instructions box. If nudity bothers the delivery person, they can send a message to let me know and I can put something on when they arrive. Most of the time I don't get a message, so I receive my packages in the nude. The delivery people don't usually have an issue with it.
I have quite often been met by delivery men while working out in the yard. Has never been a problem .... I always act like the encounter is clothed and have never been called out on it. Today, I watch closer as a couple of the drivers on my route are female. I'll then make myself scarce before they leave their van, so as to not potentially start a problem. However, I also think that previous drivers have clued them in as to what might happen ..
Just last week a friend was over for dinner she doesn't know I'm a nudist. As soon as she left, I stripped down and put my clothes in the washer. As I'm going past the from door, the bell rings. I ran back to the washer. Pulled on shorts and it was our dinner guest. She left her cell phone. Keep in mind she was out of the house only 2 minutes and here I am already almost naked. LOL She didn't say anything.
I keep several pairs of old style running shorts around the house. If any visitor approaches, I slip on the shorts, add my sandals and press on. Thats about the limit of it.
I don't put on footwear unless I expect to go outside; Usually just shorts, but occasionally a towel instead if I am sitting on one.