Like nudewalker says, "It becomes second nature." It becomes easier. Sometimes when it is easy, I forget that I am undressed, I am so used to being naked. I'd be more aware of having clothes on, they are more foreign. My precautions just happen and when the time arises, I become more careful.
So, like when I'm in DF's urban home, going to get something out of the truck, taking garbage out, outside anywhere naked, I am more vigilant than home, but I am more aware and that is an enhancement of my experience. At home I often wander out not paying attention in some areas of my property. I'm more apt to get seen by others there. Hyper vigilant, turns to second nature and the nude experience is as like JOhnGw says.