I have to chuckle a little bit when I think about this, because I get into trouble some mornings if I linger in my PJs too long (I usually do the coffee, breakfast, dog-feeding routine before showering and getting ready for the day). We live in a contemporary home down a long driveway in the woods -- it's very private, until someone pulls up in front of the house, because we have lots of windows! So when I glimpse someone coming (yard workers, delivery people), I have to do a quick duck and cover and scoot upstairs to change before they come to the front door, where they could easily see me in all my pajama'd glory!
I usually do change when I get home, depending on what I wore for the day. Usually I just put on shorts or old jeans and one of my old graphic tees, or maybe PJ pants (they are like Shiny's so they look like yoga pants). Sometimes if it's just me and my husband at home, I'll take off the bra, but if anyone else is here (stepson, etc.), I keep it on.