If I'm going out, I put on proper clothes... I wouldn't even pop to the shops in my pyjamas (don't care if anyone here does btw) so yes, I do plenty of things, including go to work
but, as I say, it's specifically in this case of taking him out to the toilet every hour or 2. If I know I'm not doing anything for the rest of the day, apart from that, then yeah, I stay in my pyjamas after getting back changed into them after work.