We often see it at the beach: someone holding up a towel, trying to hide a friend or relative from view as they awkwardly change into their bathing suit. If trips to the lake or ocean are rare for you, then using this method may be the way to go, however uncomfortable. But if you are a frequent camper or beach goer, then a pop up changing room may be worthwhile. Most are easy to set up.
Pop up changing room:
Pop up changing room pictured: Stansport Cabana Privacy Shelter, Green/Tan
Also of interest: Waterproof Outdoor Standup Portable Heavy Duty Changing Room with Zipper Door Privacy Shelter Camping Room / Outdoor Stand Up Tent Portable Changing Room Cabana Privacy Shelter Tent (Carry Bag Included), both sold by sold by RVTravelMats