I just went on a cruise, and I always opened the door naked for room service or housekeeping or anyone else who came to my cabin. They are obviously very used to it, because no one ever said a word, although one room service guy did take a long look down while we were chatting.
I also would not answer the door if I was on the bed naked, watching TV or reading, and after a few knocks the housekeeping person would walk right in and then just say "Oh excuse me, I'll come back later" but never acted embarrassed or even surprised. Such a great feeling!

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