Not in years. I haven't lived in a place with neighbors since like 2007. But I did spy on this couple that moved in next door. It was mostly him shirtless and barefoot. But there used to be a bunch of guys in their 20's that lived across the street. They would tan out on the deck porch and I would try to see them from the kitchen window. I also used to cut across their backyard on the way home and the times I did that when they were sunbathing I got to see their feet facing me.
And one time I was out on my front porch waiting for the pizza guy and one of the guy's across the street was upstairs in his room. Naked I guess. I could only make out his silhouette due to the lighting being behind him. Anyway every time I walked towards their place he would cover his crotch and duck down like a little girl or something. Had he just acted normal I probably wouldn't have noticed him.