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I always see him naked without problems. But I have noticed that he wear socks (maybe he feels cold at night, here it's winter)
On which part of his body does he put the socks, that's the real question.
If I had to chose between socks or undeware. It would be socks. I wear socks in the summer. I have cold feet.
I never sleep without both. Unless I fall asleep snuggling
after sex.
I can relate to this. Sleeping naked is really comfortable although my feet tend to get cold or just feel weird if I don't wear socks.
I usually sleep wearing underwear in case someone wakes me up early for some reason, but if not for that, I would probably sleep exactly the way your brother does.
Every boy I knew while growing up, even in the winter, always wore underwear and usually a shirt to bed (including myself, though I wore multiple pairs of white briefs) and every girl I ever saw always wore pajamas or a nightshirt, including my sisters.