I go to bed around 10pm, mostly to stretch my back, can't sit upright too long before the back ties up....It's a great feeling of freedom to stretch out with no clothes on and watch TV for an hour or so. Every now and then the wife will come in to get something and pays no attention. She knows I enjoy my 'freedom"...
My 2 boys are home for the summer from college and they know my routine, having come in the bedroom now and then to ask questions, etc. I make no move to cover up...no big deal.
Takes a while to get used to....but I'd never go back to wearing anything !