Ok, I'll put my 2 cents in. I've been to different stip clubs in my younger days, and still not above going to one every once in a blue moon. There are many different ones out there, and you just have to decide what you want to go experience. I've had bad experiences and I've had good. You have more classier places that are clean, the ladies are well kept, things are kept on a professional level, and definitely have a better atmosphere. Then, on the flipside you have your total dives that are a lot raunchier and more "laid back". And there are ones in between.
The really good ones are the ones that are in between, not too serious, but not too trashy. Ones where the ladies are comfortable in their surroundings, will be legitimately nice and bullshit w/you, laugh and joke around, and not be sticklers on badgering you for a 10 dollar beer when you could go to the bar and buy them one yourself for 2. As far as what goes on, that depends. There are places that will basically get away with prostitution, and there are places that if you try to start groping you'll get thrown out on your ass. A long time ago I went to a place in New York where I got the basic, I think 20 dollar, private dance and was allowed to finger the chick. Yeah, I was hammered but at least I picked a hot one. I used to drive a friend of mine's girlfriend to work at one and hung out until she was done, and had a dancer that was sweet on me ask me to rub her feet and legs all the time. I went to one while out of town for training at my job and had a dancer ask me for a back rub and I almost put her to sleep in the chair. There's a place where I live now that for a dollar during a set the ladies walk around with a bottle of lotion and you can pick to rub it on either their tits or their ass. That's a nice little bonus at a strip club, to be honest, because it's kept light hearted and fun. A lot has to do with the entire place's attitude from the dancers to the owner to the bartenders. If there's a positive attitude you'll have a positive experience.
So the answer to the question is, it depends on the area, and what type of establishment it is. Some places will be fully nude. Others, like when I lived in Norfolk/Va Beach area, they only had go-go bars where it was against the law to get completely naked and you had dancers with skimpy bottoms and pasties.
You can have a good time in one, and basically be in a bar setting but with naked chicks dancing, or you could have a more "gentlemanly", higher end type of establishment. Or you could end up at a crack ****e infested **** dive. Just keep your eyes open when you go, scope out the clientel when you walk in to see what kind of element frequents the establishment, and if you don't feel comfortable then go try another spot.