Yes

"I'm just, uh, gonna study the paint on the wall," Cyborg said, keeping his back to his friends.

Raven slowly unclasped her cloak and began to unzip her leotard. "I cannot believe I'm taking my clothes off before a mission."

Robin's hand slowly shook as he peeled off his mask. "I hope nobody figures out who I am without my mask."

"Really? You're face is what you want covered?" Cyborg asked sarcastically.

Before taking off her underwear, Raven turned to see Beast Boy in the form of a tiger. She glared at him and grabbed him by the scruff of his neck. "Absolutely not, Beast Boy! If we have to get naked, so do you!"

Beast Boy turned back into a human and slowly started to strip. Between Raven's glare and Beast Boy's fear, the two found themselves staring at each other throughout their disrobing. It wasn't until they were completely naked that Raven finally became self-conscious and covered her breasts and pussy with her hands. Beast Boy half-heartedly covered his cock with his own.

Starfire was naked before anyone else, to no one's surprise. She kept a huge smile across her face at the feeling of the situation. "Oh, glorious! Now it is truly like my holiday! Do you not feel the free, Robin?"

Before he could answer, Starfire gave him a full hug. By now, he was fully naked, so his penis pressed right against Starfire's belly. He felt it grow against her as he breasts pushed into his pair chest. Starfire pulled back with a sultry look. "You may not feel the free, but I know you feel the aroused!"

"Car! Now!" Cyborg interrupted. He led his friends to the garage where his T-Car was parked. Cyborg placed towels on the seats to keep his friends' bare asses from sitting on his precious car seats.

"Everyone get in the back," he said. "No way you're sitting up front with me. Too awkward."

The four Titans quickly climbed into the backseat with Raven on one end and Beast Boy in the middle. Robin realized they were missing a seat. "Uh, Cyborg? There's four of us and three seats."

"I shall simply use your seat!" Starfire happily sat on Robin's lap, backing herself against his body. Robin tensed and tried his hardest to focus on something besides his naked girlfriend.

"You are much too tense, Robin," Starfire said. "My people do not share your taboos of public nudity or sex. I am sure Raven would have no objections to such a similar fate with Beast Boy."

"Hey, no hanky-panky in my car!" Cyborg shouted.

"And Beast Boy is not sitting in my lap!" Raven said.

As she spoke, Cyborg floored the gas pedal, forcing Starfire against Robin and Beast Boy to the side. Raven instinctually put her arm around him to protect him, not realizing her mistake until his back was against her breasts. Both heroes stiffened and blushed. Beast Boy struggled to apologize. "Uh...hey, I'm sorry! I can turn into a fly or a cat if you..."

"No. I meant what I said. It's not fair that you get to hide your nudity," Raven said.

"O-Okay!" Beast Boy secretly loved being held against Raven while they were naked. Raven herself couldn't bring herself to admit the real reason she didn't want him to change into an animal.

As the T-Car drove through the city, Robin noticed Cyborg taking an odd detour. "Where are we going?"

"To pick up my girlfriend," Cyborg said.

"Are you kidding me?!" Beast Boy asked. "Won't enough people be seeing us naked tonight?"

"I just gotta make sure she's safe, guys!" Cyborg said. "It'll only take a moment!"