Others, like myself, like to get into something more comfortable when we get home, and if it's warm inside the house, being naked is as comfortable as one can be. It doesn't have to be the first thing I do when I get inside the house. I'm not compulsively nude. If I know I have to leave the house later, I usually don't bother and stay clothed. But I'm also not compulsively clothed either. If I come home and take a shower, I'll stay nude until I need to get dressed to go to work the next day.
My wife sometimes just tolerates my being naked so often, but I encourage her to be naked as often as she can, if for no other reason but to find complete acceptance from myself, whenever or however she's dressed, or not.
We have a private back yard, pool, and hot tub, so that little bit of outdoors is an extension of our private space. I love to sit out there in the sun or hot tub, and swim back in forth for exercise. Being out there really is more enjoyable to be naked doing so.
None of that was a secret from the kids. They prefer that we not be naked around them, but understand that they are welcome and encouraged to be naked on their own when we're not around. The kids are grown now, and I hope they take the liberty to enjoy their home as we have ours.