I slide off shoes if the drive lasts a distance.
I put them on as I get out. Slipping shorts is easy. Sometimes put them on or off when getting in or out.

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By the way, I did drive to and from Gunnison nude in the van. Took some of the busiest roads in the stste.

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Definitely driving through some densely populated parts and, as you said, some of the busiest roads. We'll done!

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I keep a pair of gym shorts laying nearby. I can pull them on (and have multiple times) after the popo lights me up, but before I find a safe place to stop. I have been known to use church parking lots, or even package stores like walmart or meijer... you can park on the farthest edge and just sit in the vehicle and wriggle into your clothes. Who cares if people know what you are doing? As long as they do not see you and "get offended" it is not illegal to change clothes in a car.

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