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You can ride without cycling shorts and you can ride in underwear, and you might even get away with it comfortably for a time, but the longer and harder you ride the more you'll find that it can be a bad idea....Trust me - if you ever get rubbed by a seam/elastic or get a saddle sore you'll toss the undies away and never go back.
It's not a matter of my trusting you. I am totally comfortable when riding. My hardest-riding year averaged about 90 miles per week with longest rides of 70 miles, and I had