I've opened the door completely nude, but only for those who understand and accept my preference for being clothes-free, or for fellow nudists. It allows me to feel my truest self, but I reserve this practice for people who won't be startled by it or in situations where it would not cause any trouble. I still recall the first time I did it.
As my circle of nudist friends expanded, so did my social activities. One evening, a nudist friend was coming over for dinner and a movie. Having seen each other naked many times, it felt unnecessary to dress just to undress later. Knowing he wouldnt mind, I decided to greet him at the door in the nude. As I opened it, I realized it was my first time answering the door completely naked, which made me feel oddly exposed and vulnerable. However, my friend greeted me warmly and walked right in. Before I could shut the door, he was already shedding his clothes with practiced ease. In seconds, he stood before me in only his underwear, which he promptly removed. It's amusing how what seems like a big deal often isn't. From then on, neither of us ever answered the door clothed for each other again!
I've only answered the door nude to other friends who already know and accept that I live naked.
Sometimes I'll order food via Uber-eats, and opt for contactless delivery so the order is dropped off at my door and I can retrieve it after the courier has left. I don't bother covering up and will just grab my food in the nude. Occasionally the courier will place my order a few steps out from my door, and I gotta do a quick little dash and grab in the open air. There was only one instance where I opened the door and the courier was still standing there waiting for the hand-off despite me choosing a contactless delivery. I apologized but they just laughed about it and went on with their business.