I have never seen a friend totally naked all at once, but I have seen pretty much everything here and there of all my friends over the years.
Most of the time, it's seeing them in pjs when sharing spaces on trips or being at their houses early or late in the day. It's fun when they are prudes during the day, but they come out of their rooms in pjs and bend over for something, and you can see all the way down. I have one friend in particular who is terrible at sitting in a skirt, and I have seen her cross her legs keeping her panties exposed many times, often in lace that is see through.
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