I enjoy nude beaches and other nude recreation areas. As is obvious from my profile, I enjoy being watched naked. I happily take off my clothes in full view. I usually find a spot not too far from where people pass by.
Some nude areas are of an explicit 'naturist' persuasion that frowns upon anything erotic. I do my best to respect that. Otherwise, depending on the mood, an occasional happy erection can be part of the experience.
I have described my first experience on my blog
I have not experienced any nervousness. I think that being nervous about nudity has something to do with the idea that being nude is somehow wrong or 'sinful'. Many major religions, like islam and christianity, hold a dim view of nudity in general, and anything sexual in particular. We see this reflected in society. The growing number of muslim immigrants causes social norms to shift towards the prudish. People who have been raised in such religions often need to first overcome a psychological barrier before they can relax and enjoy nude recreation. That problem has very little to do with nudity, and everything with those repressive religions.