Wiz, I am very saddened and upset by what happened to your family. It's not right that you and your family should be forced to change your behavior because of the authorities. You have done nothing wrong and don't have any ill intentions!
The thing that upsets me most is who pays the price here? The kids can't go to a place they love (the hiking). If they do, they have to wear suits. If they don't go, they don't get the quality time with their daddy that they enjoy so much (believe me, we can all tell how much they enjoy being with you!) If the kids don't go, you don't get that quality time either. Also, we don't get to see your kids either. It's a real loss to our "community family".
I know your main concern is the CPS but my gut reaction (which isn't always correct) is to he** with them! Take the kids and don't change a thing! You haven't done anything wrong.
I think you should seek advice from places like the AANR. They will tell you what your rights are and how the laws apply. Remember the ruling about "nude is not lude". See how that applies. You weren't doing anything sexual in from of your children just because you were nude. You sound like you ended up on BLM land. How does nudity apply in that area?
Please keep us posted and you have our sympathy.