In Kansas there is no law against nudity. However, local ordinances can prohibit it. In my city "being in Public" is defined as "Generally visible by the public". That is interpreted as loosely walking or driving down the street or sidewalk and you look over and see someone nude that would be considered in public. Looking in peoplespeople's windows is not allowed and would not be considered public.
I am nude all the time and drive nude frequently with no issues. My neighbors are tolerant and have had no concerns.
Be sure and check your local laws to be certain.