Travel skinny dipping
On a recent trip to Hawaii, I had a chance to take a quick dip on a Honolulu beach. It's not a nude beach, but the water was fairly opaque. Once I was out neck deep, I took off my swim trunks and paddled about for a while in the nude. There were other people about, but it wasn't crowded so I was able to stay far enough from them that my state of dress couldn't be known. Once I was tired, I slipped the trunks back on and waded back to the beach. No muss, no fuss. It's not as much fun as an actual nude beach, but still, I've skinny-dipped in Honolulu.
Once you're waist deep I don't think anyone is likely to notice if they're not too close, although sometimes I like to let the waves give me away just a little as they rise and fall. Or if I swim or float a little and allow my body to meet or breach the surface that way.
My suits are small enough that it's no problem to wrap them around my ankle in gentle conditions until it's time to put them back on and re-enter the textile world on the shore.
Rough surf (or somtimes gentle waves) may give the opportunity to enter nude if there's a gap in people passing by but then the need to exit requires a similar gap. I remember one occasion at Alexandria Bay in Queensland once where I dared to enter the surf between walkers wearing a fishnet string that effectively covered nothing. The waves started to build in intensity just as some middle-aged ladies came walking past and even though the plan was to keep my waist no higher than the water surface it became impossible. Oh well. :-)