Taking a recent experience, my good friend urged me to go with him for a Japanese shiatsu as a perfect way to loosen up my shoulder stress. He said I'd need to be ok ‘with a bit of nudity’, but that was an understatement. I'd guessed the massage part might have to be nude, but likely in a private room with towel over your bits, which didn't strike me as any issue. As for seeing others nude, I quite like seeing any guys who choose to strut about the changing rooms undressed. I also prefer to use the open showers at the swimming pool, usually being not too bothered about public nudity with strangers who are similarly open.
However, it was actually compulsory to wear the robe for the massage. It was the hour in the Japanese bathhouse beforehand where it was compulsory for all bathers to be completely nude within gender separated bathhouse areas! My friend Stewart enthusiastically stripped naked almost immediately and chatted away while I was getting my mind around how it all worked, while I was slowly undressing. I interrupted him to ask if he was going to put his robe on, but he said the robe was only for the massage afterwards. I asked if he was going to put a towel round him, but he said there was no point, as we'd be going through into the bathhouse soon, where towels aren't to be taken, they stay hung up in the changing room for drying off after.
I have been nude with most close friends with no problem, and can even get a kick out of nudity in front of likeminded strangers, but I found something awkward about being nude with this particular friend who was a close colleague, neither a stranger nor a best mate. Unlike me, I noted he was most definitely uncircumcised. His foreskin was a good centimetre longer than his cock, with there was no hint of his cockhead ever peeking out. The bathhouse was in Australia where circumcision isn't as rare as in my birthplace of England but still isn't all that common. Of course I wasn't shy enough to back out, and whipped my briefs off as though I wasn't feeling as awkward as I felt. Stewart didn't flinch and we went through into the showers, bath and sauna area, which was busy. True enough, the 15 or so guys there were nude, uncovered and relaxed, and I noted two of them were circumcised too, including a teen youth who seemed fully at ease amongst a couple of his uncut mates.
Stewart commented that I seemed more relaxed, and had initially thought I was going to back out when we were in the changing rooms. I said I'd felt a brief surge of childhood awkwardness about being circumcised, having been teased for it in the school showers in England. He seemed puzzled as to why being circumcised would be an issue, so I asked him whether his cockhead would stay exposed if he pulled back his foreskin. He said it would stay retracted for a while but he wouldn't be persuaded into doing it. When asked why not, he said it would seem weird, but I eventually got him to do it, and he had to admit that it felt more exposed than his usual nudity, and we decided it was because a man's cockhead is the most intimate part of his penis that is normally hidden from everyone except sexual partners, even when completely nude.
After that, I felt completely at ease nude with Stewart, and I even thrived off a sense of exhibitionism with him from then on I suppose. Getting dressed, he thanked me for going with him, and said we should go again sometime jokingly adding “now that we know each others circumcision status”. And when I commented on how good his sporty green briefs looked, he took them off again and gave them to me as a souvenir, pulling his jeans on without underwear. I'd wear those briefs again when we go back to the Japanese bathhouse, but I'd be too nervous that he'd want them returned. I have grown to love them, especially knowing the cock and balls that used to live inside them!