If you think it feels so much nicer, consider that it's because it's a mild rebellion against a social norm.
Not everything has to be making a point against society. In places where being nude is normal, it isn't considered a weird thing.
Done it cca twice if I don't count swimming during night, second time got sting on the shoulder from medusa that left burn scar for years and hurt like hell back then. The idea of getting something similar on my johnson makes me shudder even now.
I didn't say "swim shorts", I said underwear, which tend to be tight fitting and not baggy. And there really isn't a "huge difference."
How can you not comprehend there are stages between "complete and total privacy with one person for a moment" and "film this and display it for all time to everyone"?
There is clearly a definition of "public" that involves a limited, semi-unrestricted number of like-minded people in a safe setting without tools to record behavior for eternal and unlimited rebroadcast. You do not acknowledge this; you are talking in binary.
I can tell you haven't been backpacking.