I keep some shorts handy as we have a new neighbour and their yard level has been raised so that they can just see over the fence. I tend to be discrete with where I sit to get some sun (not now it's winter here) but in a sense I feel I should not have to as it's my yard and I should have the freedom to be as I please. Anyway I'll be the good neighbour and keep my shorts close by just in case, or at least until our trees grow more.
I have a six foot wooden privacy fence, so unless my neighbors are in their back yard there is no need for any kind of cover. If someone comes around so they can see into the backyard, there very seldom will be anything for cover. I am not embarrassed by my nudity, or others nudity. If someone has a problem, they don't have to look.
I live on a gravel road, and at the top of a hill. So i can hear anyone coming a mile down the road. If it stops i know theyre either lost or its thr mailman. If i hear their engine, i know theyre coming up my driveway and i have time to go hide in my shed or garage and dont come meet them. Should be able to dress how i want at home, but so that i can continue having the freedom to be naked outdoors on my acreage, i keep a pair of boxers nearby. .
I have my shorts handy, but only because my backyard is very open. Strategically placed gas grill or a blanket airing out on the picnic table in order to block the neighbors view.
To take my comment from a year ago a little further, while I may have shorts handy to get to/from my sunning spot, if someone comes into my yard, by the time they would get close enough for me to know they were there I might just as well stay nude because they are right next to me at that point.