My neighbor up the street saw me in my underwear last week. My dog wanted to go out around 4am so I walked outside with him in underwear and a white tee. The dog started going crazy. The neighbor turned to see the dog and there I was. Slick. I just stood there because I figured he'd already seen me so there was no reason to run back into the house.
So next time you think "gee, I live on a dead end street....I should go outside without pants", think again.