Like others here I go to Haulover, which is a legally nude beach a little north of Miami Beach. The voters authorized it in a 1994 referendum, and I started going in '96 during vacation visits. Donald Trump tried to get it shut down when he started building 3 humongous high-rise condos just to the north, but I believe he divested himself of them after they initially failed.
In 1997 I went there with a guy I was seeing, and as we lay face down on our blanket at the north end, where gay men informally congregate. We positioned our baseball caps for some discreet kissing.
Well, nearby was a Latino family, mother & father, and 4 young kids, all fully dressed sitting on the sand. Why they wanted to be there was a mystery to me.
The kids saw what we were doing, and yelled "Mira! Mira! [Look! Look!] Ewwww!" The father started cursing us out in Spanish as perverts.
My friend, who was Anglo but spoke good Spanish, snapped back at him, saying this was a nude beach, and if he or his kids didn't like it they should move on. I thought we were gonna have a fight (kinda awkward when you're naked), but they backed down & left.
Which illustrates the only thing I don't like about Haulover - clothed gawkers. But that happens on other nude US beaches, too. Good points about Haulover include standard official lifeguard towers at roughly hundred-yard intervals. And the beach sand is cleaned daily with machines. This is not some primitive place where you rough it.
Interestingly the lifeguards wear the typical red suits while on shift, but often strip naked when they take their break down on the sand. Then they put on their suits when it's their turn again up in the box.
In recent years the beach authority has allowed vendors to tow refreshment trailers out onto the beach, plus there are open air showers to wash off the sand, and comfort stations. That's because there's nothing else out there, kinda basic beach, which is also nice. But the stations are on the other side of the high dune that provides privacy from the public, so you hafta dress to go use them.