I have snuck outside of the house fully naked before.
And no, not just a one time thing. Keep in mind, this was usually done in the winter, so before I had a vehicle with autostart, I’d walk out to my car early in the morning (this time of year I had somewhere to be in half an hour), wearing either just my robe or a shirt and shorts with no underwear. I’d open or drop the robe / clothing for a brief moment after walking behind my house after starting my car. The thrill of it was just incredible.
I do not suggest doing this if you live in a town.