A genuine question. I don't know if I'm doing what everyone does or scarring them for life!
There me and two teen sons at home. In my own upbringing, I never saw my mother downstairs without being fully dressed, she would never have dreamt of having breakfast in her dressing gown, or watching TV in PJs, for example.
In the hot weather, my standard outfit at home is shorts and a loose t-shirt with no bra. My lounge wear in the evenings is light PJ trousers and a stretch cotton cami.
If it makes a difference, I'm mid 50s, slimish and not big boobed.
They haven't said anything, but then I don't suppose they would.