In my experience and from what I've read here over the years (which is not a scientific statistic, it's purely anecdotal and I understand that, I'm not saying this is always true whatsoever) when a person with a penis "goes commando" there's an intention to make it known. To be seen, with or without consent.
When I don't wear a bra it's not at fucking all because I'm trying to force people to see my nipples. And, my nipples can't penetrate anyone.
Some people with breasts may happen to do it for that reason, but my anecdotal experiences are that most of the time it's purely for comfort. I've forgotten to wear a bra completely by mistake and definitely did not intend to "tease" or "show off". I know other people with boobs who have done the same.
I don't know any person with a penis who's ever just forgotten to put on underwear.
OMG Juicy............there be a handful of enlightened women left kicking on here....now I have 4 fingers on my hand.
I be a builder, brickie, wall and floor tiler. We wear rags to work, even well worn undies. Me and me mates in the game

...most guys in the industry do. We all know there is not a day you don't go to work where you don't either bleed, sweat, get covered in mud or shit (someone else's), have something fall on you, trip over, fall over....but, most of the time you get up, covered in it... and laugh... at your own stupidity.........perhaps it is why we have a broad view on life, and it could be a hell of a lot worse.
But, for me it has to be cotton............no polyester touches my....sleek, hard....65 year old body...

, not even socks. Not going to go into any further detail...but yes, sometimes I do not wear underwear because I love the scent of sex from the night before.....or is that not having a shower

...you know what I mean.
Thank you for your gorgeous profile too.
Godjeeezus this wine tastes like piss...............but there is nothing else left in the cupboard.....old Mother cleaned it out.