In the UK naturists are treated as a minority. Like some minority religions we have a right of self expression of our lifestyle. It is seen as a basic human right like freedom of speech. Our nudity is seen as a display like holding up a placard at a public demonstration. Yes it might upset some people who disagree with it. The right of freedom of speech includes the right to upset those who disagree - especially at demonstrations. But, like all these rights, there are limitations. We must not set out to cause alarm or distress (as with flashing) or be involved in anything sexual in public. British Naturists have fought to protect this right - bringing amendments to the sexual offences act and talking with the Director of Public Prosecutions and the police. So now it is not seen to be in the public interest to take someone to court simply because they are naked in public. So our minority rights are protected.
But, as with any such right, it is wise not to abuse it. The law could be changed.