In the ideal situation, you'd be able to pick starting equipment and under that, a selection for picking casual clothes, and then beneath that, or within that menu if it was designed that way - subtle and ignorable if you wish it to be but present, the option to select an undergarment preference from all the variants they've already made for the game... and sure, 'none' would be one option amongst that. Ideally, your camp wear and undergarments could be something you could bring up the character screen for and change during the game as well, in some fashion.
Wouldn't that make the game more tedious? With each long rest, not only do we need to talk to people, but in that case also swap our underwear. I'd rather work with the assumption that Withers washes out underwear while we rest and we put it back on before we leave the pocket dimension (cutscenes that will not make the final production). But if we are given the responsibility of changing our underwear ourselves, it would be a great mental burden not to perform that act each time we rest.
