Hello Ross19, welcome to the forum from me too.
Even of you don't find walking companions there are so many wide open spaces in Yorkshire where you could find solitude to walk naked. (I was born and lived in Leeds for the first 1/3 of my life and know the Yorks countryside well). Try and find a deserted patch of woodland to walk in. There's nothing so calming to the soul and invigorating to the appreciation of being naked in nature than woodlands- especially ancient deciduous ones.
It's a bit of a labour to read but Jbeegoode has been posting sections of The Secret Naturists Hahndbook of tips for successful and enjoyable and solitary hiking in all sorts off circumstances. It starts here on page 43!
The Secret Naturist Handbook (freerangenaturism.com)There are several members of our forum that are regular practitioners of UK naked hiking - Davie, Yeldew (who we haven't heard from for a bit) and Peter S to name but three. Ask questions here and we shall respond if we can be any help to you in getting started with outdoor naturist walking. And do feel free to join us in our discussions.
John