Depends. Family camping, usually in the camper, I strip off to my underwear and get into the bag. After everyone else has gone upstairs to bed of course so it is only the sleeping dog lying downstairs to see me change for bed. That dog is usually asleep by then anyway.
When I used to do a bit of wildcamping, I used to get into bed in my day clothes so they were warm the next morning. Also, meant I could cope better with less insulation in the bag for a more compact kit as I wore more clothes. If they were wet I stripped off to underwear and got into the wet clothes the next day ot dry them off by wearing them. That is why I do not weat merino as they take longer to dry by wearing IMHO and hold on to water more.
It has been known on a cold evening that I got into bed cold with my synthetic outer smock on to warm up. I would have a last brew and hopefully have had my last toilet break by then. I would also eat plain peanuts (not roasted or salted) as they provide slow burn energy to keep you warm overnight. Seriously I wake up cold if I did not eat them. After getting warm I take the synthetic insulation layer off. Unless I have fallen asleep in my toasty state.
If i do strip off on a wild camp I just know that I will have an issue that requires me to get up in the night. I have a number of times had to find my windwhipped away pegs and lash my tarp down to a more windshedding pitch style when an unforecast storm came in sending one corner of my tarp flapping freely. It is usually rather windy and heavy rain when I have to sort that issue out. I am then glad I am half naked as I quickly dry off under the tarp and get in. Wet bed clothes stay wet and you then have to take them off. Better to be half naked or fully for a dark night emergency. That includes one of those old man wees you need. You know, you thought yhou had stopped drinking early enough and had gone for a last pee just before you went to be, But the wee fairy sees the weather coming in and lays in wait untill it is lashing with rain and makes you desparate again in the middle of the night when it is the coldest, darkest and wettest!!
All this might just be me but often in all the tales on a thread like this you do see a little bit of yourself in what others type out in honesty!!