My parents were rarely nude. I only remember seeing them nude on VERY rare occasions.
I don't know about my other three siblings (only one still lives locally), but I'm a home nudist. Growing up, it was rare for me to have on more than just shorts, while others were wearing multiple layers.
in short, life is too short, so do what feels comfortable TO YOU, Mike.
(and thanks for being mature about it being their house, "they should be able to do what they are use to.")