This is my partner’s behavior, even when his kids have/had friends over. No amount of coaxing or attempting to shame altered the behavior. But to give him credit, wearing briefs (aka tightie whities in my part of the world) is 110% improvement over my stepdad’s behavior. He was a “sleep walker” who slept nude. I thank the heavens and David Bowie for this, but I only ever saw him nude once, it was from behind, and in near complete darkness.