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Originally Posted by Torchwatch
The types of underwear is infinite.
Humanity evolved in the tropics and wore loincloths as outerwear then moved towards the poles and needed leggings and smocks, keeping their loincloths as underwear.
The tee shirt was invented by the US Navy as underwear and is now used universally as outerwear.
Everything is confused by need fashion and opinion.
In some tropical countries it is normal to wear underwear around the house but to get dressed to go out.
If your underwear is likely to be seen in public your likely to wear more presentable underwear, if it is always hidden I rather not know about it.
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At one time we had a neighbor who wore nothing but bikini underwear ar home,even when we were visiting. Didn't bother me but it made my wife uncomfortable.