In the winter, I usually wear flannel jammies or something else that's a long-sleeved top and warm pants. On really cold nights, I might sleep in sweats. When nights start warming up in spring and cooling down in fall, I switch to lighter pajamas but they're still a long-sleeved top and pants. When nights finally get warm and muggy, I don a short-sleeved top and short shorts, or maybe a tank top and shorts.
Even if Dad wasn't in the house, I don't think I could sleep in the nude. I'd be too worried about an emergency in the middle of the night and having to depart the house quickly.