It is part of a functioning society, as a bigger picture. However some children may take longer to get to the point of accepting/realising/coping with this, and they should not be shut away from society in the meantime.
I’m with posters who say pick your battles - safety and weather need to be taken into consideration, but after that, does it really matter? Is there really anyone who would be offended if a toddler took trousers off at the park? What about shoes? A coat?
my eldest used to take shoes and socks off if we stopped moving for more than about 10 seconds. It was an instant reflex (no idea why). That raised eyebrows in the supermarket queue, and the bank, and at bus stops, but I couldn’t stop her (severe ASD). She did tidy them away nicely 😂 (socks into shoes and neatly together), and I would scoop them up ready to shuffle along/be ready to put them back on when we were moving again. She doesn’t do it now (she’s 18), but did it from toddler age right up to 8 or 9.
My middle child would instantly remove any piece of clothing that got even slightly wet. That was fun in playgrounds in the summer if anyone had a spray bottle or water pistol! She also has ASD, and even a single drip of water would mean a change of clothes. We would change as discreetly as possible in a corner if we could, but given I was also supervising dd1 and her shoe situation, plus also generally supporting 2 dc with ASD, that wasn’t always possible! She stopped doing the instant change thing once she was at school and had to mask her distress more, plus a natural awareness that older children don’t change in public. Not a big deal (she still can’t cope very well with being wet, though, but hides it better to those who don’t know her well).
in between coping with all that I also had dc3 (also ASD, as it happens) who didn’t really have any clothes/sensory issues when he was younger, but should he have missed out on the playground/anywhere else because his sisters did have those issues?
it’s really not something to get worked up about.
(hate Bing though, and the ridiculous explanations given for perfectly ordinary behaviours)