I cannot for the life of me imagine sleeping naked, lol. What if you need a drink of water?
I did used to sleep naked often (usually in summer, no a/c) before DS and the prospect of being up with him MOTN, but for a quick trip to the kitchen, naked is okay by me. I don't turn on the lights or anything, so even if a neighbor happens to be awake, I doubt they can see me through the window.