Am I a Nudist, Naturist, pervert or wannabe?????

HI, new here, this is my 1st post/question.
Let me introduce myself. I am 53 yrs old and happily married.  I hate wearing clothes.  I am a scorpio with a capricorn moon and so I am a very sexual being.  I am interested in this stuff because:
1. I find sleepwear uncomfortable and restricting2. I find sleeping in underwear unbearable3. Whenever possible when i go out somewhere i freeball.4. when necessary to wear underwear, i wear briefs.5. I like to sit around the house naked or nearly naked 6. I find it curious what it would be like to answer the door naked or be naked in front of strangers
I must admit that I get erections easily and frequently (to the joy of both myself and my wife).  We enjoy a good active sex life.  You've probably heard this before, but what if I get an erection and it just seems to last and last?  The nakedness isn't really a sexual thing, but in a way it kind of is a turn on.  The idea of doing something that is considered taboo to so many is kind of exciting.  Maybe I'll find that it's more hype than reality.  Although I wouldn't touch a woman other than my wife (we are monagamus sp?)  it doesn't mean i don't enjoy seeing another good looking woman(clothed or not).  Sometimes a certain part of me develops a mind of it's own and just reacts.
How would I handle such an occurence?  How might my wife react/handle it?
I want to explore nakedness for the sake of comfort and just plain fun (not sexual fun).  I'm sure i could talk to my wife and she would be willing to explore nakedness with me.  She shares my opinions on sleepwear and doesn't really like to wear panties while sleeping.  She always wears panties under her clothes though.  whenever possible, she will be without a bra, but never in public.  If she is going into a public place, she WILL wear a bra-her choice, not mine.  I don't really care if she wears one or not as long as she is comfortable.
To be clear, this is not about sex, but as my mind is often in the gutter, i might have an obviously visible reaction.  As to sexual things, it will just be the two of us in a private setting from now till one or both of us die.  If we wanted group sex we'd visit a swinger's club.  I just thought it would be interesting, liberating and fun to not be restricted to clothes.
Also though, I worry about other potentially embarrassing  occurrences.  As i have aged, i find that after peeing (and thinking i am done)  i often within 1-2 minutes will leak out urine in amounts up to about 10 ml (that's about a third of an ounce for the metrically challenged) .  This could be both an unusual and uncomfortable thing for others to see and for me to experience in a nude environment and it could create health/sanitation issues.   What would be a good way to handle this?

I won't lie though.  When sitting at home on a hot day, i will sometimes remove all clothes and sit in my recliner while my wife sits in her chair fully clothed and we watch TV.  Often when this happens, i will look at her and smile after about 10 minutes and when she smiles back and asks if i'm cooling off, i get an erection.  This is kind of weird because I know that we won't be having sex that day(and probably not the next either)  But i get the erection anyway.  My wife accepts this but how would she react if it happened in a more public setting?  How would strangers react?  would they think "just another newbie who can't separate nudity from sex"?
Someone please give me your opinion.