What if I want to walk around my own home in just a pair of underwear?
Why do you want to walk around in your underwear?
I'll feel more free and relaxed that way
If that makes you happy, go for it! If you have a roommate though, don't be surprised if they ask you to put some clothes on. It'd be pretty rude if you were walking around like that in a house with someone else living in it.
Why would you care what I do in my own apartment?
If you live alone, it's okay to walk around your home however you please. However, you should respect the space you share if you live with other people.