I ALWAYS sleep naked...... Doesn't matter if I'm alone or not. Doesn't matter if the kid is home or not..... I like to go to sleep having my 'manhood' held and it's easier naked! If there's no one else there to do it for me, I do it myself!
Sleeping naked always feels so free, I know how weird that sounds but just make sure your door is shut if your parents are home. Lol guess that's why I have my own apartment.