I live in a city where it's legal to be nude. I used to live in a county where it's legal to be topfree. Many parts of the USA have decriminalized nudity.
It's so funny to hear folks in the UK being snobbish about their prudish and unfree legal system. In the USA, not only do we have freedom of speech, but we are deliberately not "lock[ing] people up for being naked in public," because we want freedom of expression.
If you can't say "fuck the Queen, fuck her Knights, and fuck the entire system of royalty and landed nobility," then you don't have freedom of speech. The UK would have me sentenced to forced labor (sorry, "community service") to the public for such a rude sentiment, despite the continued harms done by the nobility to the public.