Parents !
No, never. I got a late start with a bit of nude sleep in college, much more frequently when I got my first apartment. Consistently nude in bed now, but often wake up cold, even under blankets, so have to add an unwanted clothing layer to get back to sleep. Nude in bed is the best.
When I started nudism for the second time, only my dad knew about my habit of sleeping naked. Once I arrived late and slept late that day my mother entered my room for some things that were stored in my closet, I slept and did not listen when I entered, when he left my father told me that he said "I think we should buy him a air system, because he doesn't wear clothes to sleep because of the heat "my dad just laughed and told him that it wouldn't help, since apparently it was a habit of mine to sleep like that. Since then mom knocks on the door before entering my room and dad just entered.
Oh yes. I like to say I was born naked, and fought to stay that way. As an only child of older parents, they were tolerant.
I found EVERY excuse to be naked...it was too hot, etc. Finally, when I was about 6, they gave up and I roamed the house naked most of the time until I moved out. The one rule was no nudity when there was company, and no nudity outside. I loved it.
My dad supported this and I suspect he was a want to be home nudist. On occasion he would stay undressed while changing.
Sleeping was, naturally in the nude.
Would love to hear from anyone who had a similar experience.