Have name-changed for this to spare my embarrassment.
As soon as I get home from work it's off with the work clothes and on with something loose and comfortable - old t-shirt and long hippy swirly skirt, usually. Shoes come off, Birkenstocks go on. I imagine it's not a look that's everyone's cup of tea, but only my DD and random door knockers will see me. If I'm expecting guests I dress in something appropriate.
Part of getting comfortable involves removal of bra (always) and, on warm days, knickers, too, and letting all my bits be unencumbered for a while. My sister thinks this is very weird of me and that I will 'regret it' - although she is unable to specify how!
AIBU to want to be comfortable in my own home? Incidentally, random door knockers would need to have x-ray eyes to be offended by my appearance. All my clothes are fully opaque.