Yes! What a strange question. Of course. Always outside, i mostly wear skirts and dresses so it'd be bad if I didn't. Always at home, my entire family lives in one compound type home. Never with my sleepdress.
All the time except when in the bathroom or shower. I don't like the feeling when my thing down there swings from side to side or jumps up and down freely. It's annoying. So I wear underwear to prevent that.