This is what I was flailing at trying to say. Admittedly I have a monkey in this circus -- I'm helping raise children who are not biologically mine, and I would be massively dismayed to be expected to be fully-dressed-with-bra around them every waking moment or somehow be A Dire Influence. Sometimes they barge in when I'm dressing or they climb into my bed after a nightmare while I'm just wearing a ratty T-shirt and panties. I really don't think this is sexual or otherwise inappropriate.

But I'd never be seen by their grandparents in my underwear!