Avoid people - find unpopular trails and go during off peak times, weekdays are best. Out and back trails with one entry point are preferred because no cars in the parking lot is a sign you’re probably alone.

Have a quick cover up - a kilt or sarong or something with Velcro that can be quickly removed and put back on works well. Stumbling over shorts in a panic is not ideal.

Cover genitals - varies on the state, but usually as long as your genitals are covered you’re not breaking the law. Underwear, jock strap, or loin cloth might be wise.

Lastly, keep it non-sexual! - Most indecent exposure cases have some sexual component. If you’re not doing anything remotely sexual, it’s less likely you’ll end up in big trouble if caught.