In Spain, nudity is a constitutionally guaranteed human right - that's a stark difference compared to America and voyeuristic spying is considered a crime entirely on the peeper and not on the person having their privacy violated.
You're correct, you won't find topless women wandering around city streets - but a woman may feel comfortable hanging up their laundry topless or being topless in their home near windows. In some parts of the US and Canada you can actually be fines for casual nudity if some asshole judge deemed it exhibitionist.
It's actually becoming less normal in a lot of places since every creep has a smartphone with a camera these days. Women have found their pictures or filmclips back on the internet, which was not the reason for going topless.
Also, it's been allowed in the last 50 - 60 years for most countries, not so much before.
Common saying about sexuality where I live, "A woman should cover herself. A man's going to be a man!" By man, I mean creep, but that's not how most people, including women, feel, even though it's literally creepy/pervy/and sexual assault.
I walked my dog past a church yesterday, baggy jeans and tee, and a guy who was letting himself in asked how I was and if I was behaving. I said I was fine and always behave. He literally leered so hard at me when he said I was having no fun that I couldn't get home fast enough.