Fortunately, it is legal in Germany. At worst, you could be sent off by the police if someone takes offense and calls the police. If no one else complains, the police will also walk past naked people. At least if you’re not in the city center… ;-P
The situation is different if there is a suspicion of exhibitionism or sexual harassment. In other words, if you expose yourself directly in front of others or perform sexual acts or if you have an erection as a man, for example. Then it can be interpreted as a criminal offense.
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