Yes --- Yes of course it is, all guys are shirtless at home. Don't be shy even if there are girls at your house. When you're married, you'll never want to wear a shirt.
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If you’re a guy, then in most cases yes. If you are close friends and have known each other a long time, it most likely will not be a big deal. If you are unsure, just ask them if they wouldn’t mind if you took off your shirt.
Whenever I went over to my buddy’s house during the summer to hang out, we would spend most of our time outside his house
Just hanging out or playing sports. Since summers here get really hot, most times I would take my shirt off as soon as I got to his house. (He almost never wore a shirt)