I almost always go commando at home, so much more comfortable and at night I sleep naked -- feels like everything can breathe and relax.
But I have to be careful where I go commando in public. My bulge always shows and if I get even a little bit turned on, my VPL is super prominent.
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I need to wear underwear to contain myself out in the world and blur my VDL. And I don't like flopping around at the gym, especially when jumping rope (!), so I need support there.
And some underwear can look and feel super sexy. Especially when they look like they're having trouble containing you...
But at home (or around certain company

), I mostly hang free!