Slept naked since my kids moved out of the house. That's been about 40 years ago. Can't get my wife to sleep naked.
I never slept in anything other than underwear and nothing up top . It was so liberating when I started sleeping naked. All my family know I sleep naked, nothing wrong with it and like a poster said above I keep something beside the bed in case I have to get up and go around someone.
Simply hate clothes binding me while I sleep and only wear pajamas if I am sleeping in a strange place.