LogFAQs > #888346609

It does tho. It's a context issue.

Wanting to be seen in skimpy clothes that you specifically have for that purpose (a bikini)
vs
Not wanting to be seen in skimpy clothes that are used for support and cleanliness (underwear)

Edit to this. Think it also has to do with where you are when you're seen in these things. Bikinis have designated places where it's socially acceptable to be seen in them e.g. the beach or the pool or waterparks or surrounding areas if its really freakin hot out. Underwear doesn't have anything like that, its only utility is for the above mentioned and for private romantic encounters, so if you're out in your undies it's pretty damn unusual.
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I'm a loner, Dottie. A rebel.