You will do the massage and scrub nude.
I do not mind his massage and scrub. No complain but I don't like the place. It's sleazy and many female therapists walking around and a bit noisy.
I had a few driving trips in Japan. Its fun and economical. Especially when there are 4 pax sharing a rented car. Have not tried a RVCamper as parking overnight might be an issue in many places. Yes, I am a Japan Lover!