Would you go shopping underwear with a guyfriend? Guys would you accompany a friend or would you feel embarrassed?

saandraaa
Well, the last time i asked my female friends to accompany me to shopping but they were busy so a guyfriend wanted to go with me but i refused he said it's prude and immature and blabla but i really don't know, I'd feel uncomfortable if a guy knew what I'm wearing underneath my clothes? I start to think that I'm prude since we're really close friends, what would you do gitls? What would you do guys?
Would you go shopping underwear with a guyfriend? Guys would you accompany a friend or would you feel embarrassed?
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