Is it normal to not wear underwear at home?
Yep.Totally normal
Yes, it’s completely normal to skip underwear at home. Plenty of people do it for comfort, and it’s a personal preference.
Absolutely. Some people find it more comfortable, especially when they’re relaxing or sleeping; others prefer the support or coverage of underwear. There’s no rule that you need to wear it at home.
Just wear whatever feels comfortable and keep clothes or bedding clean as you normally would. If you share your space, the only other consideration is whether your outfit suits the company.