Sure, at times I do, but usually with a sheer robe that my wife can see a hint of the bra and panties I am wearing. She likes it when I do.
Do you walk around the house in your bra and panties?
Of course NOT. Do you walk around in your jock?
Ummm no. What kinda question is that?
no.
Only when others arent home. But when I move I plan on doing it a lot