The Riverside has a nice bar as you enter. You have to pay a small cover charge but nothing unreasonable.
When you enter the stage is in the front left away from the bar. The girls are patrolling for dances. They are genuinely very friendly, they will sit down and have a nice chat. They will let you buy a drink for about $15, which I though wasn't terrible.
The only full nudity is on stage, lap dances retain clothes. They are fairly cheep at $20 but offer little in thrill.