Novara makes a sport panty with a light weight chamois which is comfortable to me for shorter rides. Or how about a riding skort or your regular bike shorts under a short skirt.
Personally I think that for me "gearing out is part of the ride. I wear a jersey because it has three pockets in the back so that I can carry: pocket 1, cell phone, pocket 2 a ziplock containing chamois butter packets, a shot jar of pickle juice for cramps to which I am prone, a bar of gel blocks and a gu pack, pocket 3, my bike wallet with id, med info and a couple of dollar bills plus a five for emergency water of tire repair and my house keys. with this and two bottles, one of water and one of electrolyte I can go up to about 60 miles., which is about the most I will ride unsupported or without a store stop to replenish.
As for the lycra look- like a helmet and gloves, lycra has its purpose, it slides more easily across the pavement if you fall, it wicks fast and easily and for me it is part of the riding mind set.