I use this a lot with my swimming friends or showering after tennis. When undressing with friends for the first time, I find that if I don't start out bold & brave, it can set a long term practice of turning away from each other when removing underwear, changing under a towel, or waiting for a cubicle rather than sharing an open shower. Being awkward with nudity with friends reduces the bonding between you. So, I take jeans off first, then jumper, then my briefs, then tee-shirt. I try to be first to strip but then keep it slow by maintaining conversation, facing the friend and keeping some eye contact. I slow a little before and during taking my tee-shirt off giving the friend a risk-free chance to have a decent look and the ice is broken for both of you, setting the scene for easy friendship-style nudity from then on. I also find it less of a 'leap of faith' for me too, compared to the usual approach of stripping to undies, and then the big awkward moment of stepping out of your briefs.
Once open nudity is an easy practice between you, I've found the nudity bond can be made even deeper if you talk about things while changing like how they're going with their new partner, was it them who bought you those orange briefs, or have they got you trimming your pubes now.