Abu Dhabi (or indeed the UAE) doesn't have a very strict dress code, which means you don't need to be covered from head to toe to walk down the street.
But decency still needs to be maintained, bikinis are not allowed on city streets (and even more so half-naked - forget about that in the UAE). It is also better to avoid those that show too much cleavage.
As for shorts, T-shirts (for both men and girls), as well as skirts or dresses above the knee, these have long been acceptable in the Emirates.
In general, you can be naked, but within the limits of decency. Furthermore, the local Arabs still drive cars and show little interest in tourists. Therefore, the most that can happen is that you will garner lustful glances from all the guest workers you meet (and many more of them live in Abu Dhabi than native Arabs).
You can safely wear swimwear (bikinis) on the beaches, but you cannot leave the beach.

27 February 2024, Tuesday | 5818