I have several times. Never had a bad experience. Each time was for different reasons. I never thought of myself as a prostitute when I did it but I bet the guys did. The majority of the times it was at the encouragement of the guy I was with.
I just two weeks ago rode on the back of a motorcycle completely naked. Called it my Lady Godiva ride. It was dark outside but not that late yet. The scary part for both of us was we almost hit a feral pig running across the road. That would have been tough to explain being several miles from home.
My boyfriend at the time desired it. He had asked many times before I finally gave in. The first time was very painful. I tried to crawl out from under him to escape. It took considerable time to get him inside me too. I guess I was a tight ass.