I don't have kids but I would take them out in just their diapers without pants or shorts as long as it's warm enough.
My mom used to take me outside wearing nothing but my plastic backed pampers diapers with shoes and socks and I have pictures of it.
I wore those plastic backed pampers until I was near 4 and wore them at 5 and 7 years old for bed wetting.
I would wear nothing but the pampers diaper when we went to the store, park, outside in our yard and anywhere else we went when I was a 3 year old and under.
I wish my mom would have taken me out in just a diaper at 7 years old but she never did as I had to wear pants over them then.
I'm now an adult and go outside in public wearing nothing but my diapers and shoes and shirt during the summer months.