It was an anime only scen, which ocurred in the original series, episode 148.
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Answerin episode - 33
yes......its in the episode where ther trying to find the bug and its at night and he gets up then he goes to the waterfall and saw hinata naked but it was dark so he didnt knw who it was....
Yes. During a mission to infiltrate the Hidden Sound Village sometime during the filler episodes, Hinata was training naked in a river at night, and Naruto came up to see her outline in the dark. He doesn't realize it's Hinata. The next morning Naruto tells Kiba about a beautiful girl he saw in the river last night, Hinata blushes as she realizes she was seen.
It's episode 33.
Sorry. But there isn't an NARUTO or NARUTO SHIPPUUDEN episode where Hinata goes out with Naruto. I'm not trying to be a A**hole. NARUTO is an action Manga/Anime and will most likely not have any if not all heavy romance.