I agree to go early in both the day and your vacation.
The beach usually gets busy around 8:30-9:00am. You simple head over to the beach. Find your chairs, get yourself set-up and then strip right at your chairs. When you are ready to leave you dress right at your chairs. It really is wonderful!
People do look around, but there isn't any gawking where people are down right staring. It's natural to be curious, but don't stare! If you have some ink, that will more than likely get brought up in conversation.
We've never gone with friends although we have talked about it with a couple that we know. I think it would depend on the friends if it bothered me or not. We've always met people at the resort and then hung out with them and continued the friendship here in the States. We've then headed back to the resort with them and it hasn't been weird.
You are going to have a fabulous time. Couples is the best!
Juliann & Jeff
Jamaica Soon Come