I prefer side sleeping too but I have the same issue with my shoulders. I've had to adjust to back sleeping or sometimes use a pillow to that I'm half on my side.
I to sleep just in my nappy as a baby because of the heat and humidity, growing up in the tropics. Then sleeped and run around naked from there on. Even when we moved to Europe and then to the UK. At 64, I spend all my time naked and love it.
I've never seen the point off getting dressed, just to go to bed. At worst people can just put a bathrobe on.
I Have always sleeped on my front, since I can remember and would hate the Idea of Pj's. Even in the cold.
When I was younger and still close to a normal weight I slept on my front. Once I gained too much weight I had to change positions because of acid reflux. My wife prefers the bedroom to be cold so I adapt.
That is what life is all about, adapting to a changing situation and environment. I think, I liked sleeping on my front, for obvious reasons as a kid and just never changed my sleeping habits, even to this day and helps me relax and then aids a good night sleep for me aswell.
If it's hot in the summer here in the UK. I will sleep on the wooden floor in the sitting room and face down with a pillow and that still feels VERY comfortable for me and helps to keep me cool, among other things too.
I tend to be a front sleeper as well with the pillow in the headlock position. Or spooning until it's too warm... You could say I sleep on the wood from time to time as well... lol
I started stripping off my PJs and sleeping nude at about ten years old. I just preferred the feeling. My mother found out and basically said, if you're going to sleep naked then why bother with the pajamas. After that I stopped using PJs at all. After an evening bath I would wear my bathrobe until bedtime.