Just the way it is.
I think it's totally normal.
"Close-up" nudist social interactions will often feel "more exposed" because you're literally naked right in front of other people. Which is why some people might be a little more "guarded" (or even appear modest) in those situations.
When we go to the resort, my wife knows that everyone else will be naked; so she doesn't have much hesitation disrobing in the parking lot and being naked all day. She can also choose how social she wants to be on that particular day. In any event, she typically is not going to "appear modest."
When we go to the nudist B&B, she's a little bit different. Social interactions there are unavoidable. So she's typically going to initially be a little but "guarded"; usually opting to start out with a sheer open bathrobe, or a towel held in front of her. Until she's established who else is there; and how friendly, respectful and comfortable with nudity they are. That can take a few minutes; or longer. But once a positive connection has been established, it won't take long before she decides to hang up her bathrobe/towel; and engages with them naked. But if she can, she will try to avoid being the first or only woman openly naked around everyone else. It's just not in her temperament; and it's ok. I think a lot of nudist women feel the same way.
But I digress...
Yes,many times, most recently I was at a spot that had a nice swimming hole and a sandy beach, I went down there and went skinny-dipping and just laid out naked sunbathing.After awhile I went up to my vehicle to get some beers, left my trunks at the beach. There was a camper van up there with a couple there. The woman saw me and started walking towards me,I grabbed a towel and covered up. She asked if this was ok to camp,I said yes, people do it all the time, including me. I said good thing you didn't come over to the beach as I was down there naked.She said ok, come over and tell her husband, which I did, he said great lets all go down there. She said ok, but she wouldn't get naked. He already had shirt off, we all went down there and him and I got naked and went swimming and I showed him about walking upstream 30 yds and just floating down the river naked.after 30 minutes or so she took off her suit and joined us, we stayed down there all day, all of us naked. They must have sunbathed a lot because they had great all over tans.
Here in rural Nevada there is a hot spring nearby and about a year ago there was a solo female traveller who would show up a few times but always wore a swimsuit. I always go nude unless arrive to find others clothed and will knock the cobwebs off the swimsuit that is somewhere in the car. One day I'm there with 3 others and we were all wearing suits and she shows up and strips naked in front of everyone and walked around talking and socializing totally free and natural. No one showed they had a problem with it as they shouldn't. Natural hot springs are known for being just that. The usual custom is be courteous and ask others already there. Ayway, after the clothed vistors left she told me that I and others had opened her up to nudism and she was looking to go to other hot springs around the western US.