I rarely get naked at home. Not unless it's really hot and humid and it's more comfortable to be naked. Nudity at home is only done for comfort. I'm actually extremely sensitive to stimuli, tactile, auditory, smell etc. I prefer being naked outdoors because it feels more natural. It doesn't feel more natural indoors because it's not a natural environment. Also, when naked indoors though I am just more aware of having to sit on a towel or whatever I find it more distracting. So if someone was to knock on the door I would put on a dressing gown.
I just don't know what it is about feeling the grass under my feet. Even when waiting at a bus stop I will prefer to stand on the grass. I was put off jogging for long because the thought of running on tarmac was really off putting but I've started occasionally jogging around the local park where I can stay on the grass.
That said, when we lived in Munich we would routinely be naked indoors because of the heat, probably for about six months of the year. I would cover up to answer the door, but then I'm from a part of the world where they locked Steve Gough up for years for being naked, so a certain trepidation about being naked in front of others when I don't know they're okay with it is built into my cultural psyche.