I have a number of times.
Most common, probably, would be like a gas station bathroom where you have the whole room to yourself - it's just fun to undress. Two of these times were as dares where I peed on my clothes on the floor then put them back on, the second I used my clothes to wipe the toilet, urinal, and floor then put them back on.
One time I was in a public restroom at like a state park - there were two toilet stalls without doors, and the whole room was open (no outside door). I undressed in the furthest back stall and through my clothes as far as I could over the wall. I think my pants ended up in the next stall over, shirt was out by the sink, one of my shoes made it all the way outside. It was fun.
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