My brother and his wife stayed with us for a few weeks while their house was being remodeled. My SIL apparently thinks being seen in a bra and panties is normal for family members. In the morning she would iron her clothes for the day in the kitchen in her undies. The first morning she said "I hope you don't mind", after that she just did it. It didn't bother my brother or my wife, I sure didn't mind.
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