Yes I have been naked in my car. After going to the shop stop at a deserted parking lot at night, around 20:00. Got out and stripped of all my clothes. walked to the road and down the fence and back. Had to hide 2 times for oncoming cars. Then got in and drove home naked.
I have driven naked. I've also had people ride in my car naked. Even had someone jack off in my car, I pulled over and made him get out to blow his load so we wouldn't have to worry about cleaning it out of the car.