I spend most of my time naked and if i get hard i never worry.yesterday whilst repairing my shed roof naked my neighbours came out to chat to me his wife kept looking at my penis whilst we chatted and as such i became hard neither of them where bothered,now i dont bother.
i really dont see what the problem is, as long as no one is offended and there are no children near , your not hurting anyone, lots of women lay on the beach with there legs wide open and no one says anything,its all natural, we all look the same at the end of the day,hard , soft,what ever.
Yes I often wake up from napping/sleeping at a nude beach with a full erection. I usually am embarrassed for a while, but nobody on the beach seems to mind. Some other men smile when they see my erection.