We have been to Playalinda at the National Seashore earlier this year. From I-95 use exit 220 to Titusville and head east on FL402. Follow signs to National Seashore. After going into the national park, follow the road that heads east and then turns north to parking lot #13. Its a long way back into the park. That is as far north as you can go via car. Park there (often gets filled up early) and walk to the beach and head north. The area north of lot 13 is clothing optional. We really liked the beach and no problem with rangers or gawkers. Enjoy!