I usually sit on a towel or wrap which can be deployed if needed.
I also sit on a towel, but it's properly tucked in to the chair and wouldn't come out again easily so no use as emergency cover.
In my door pocket is a pair of rolled up shorts just in case, but I have only had to use them once so far, and that's when I was rear ended 18 months ago.
In 5 years I've only ever been seen once.
So far i have had my pants down to my ankles but still "on" and shirt off.. Eventually i would like to get to where I can drive with everything off but shoes. I appreciate the advice.
I find I actually have more control over the pedals if I can grip them with my toes rather than push clumsily with a shoe. I don't know where people get the misconception that driving barefoot is illegal. I drive barefoot in many contexts where I wouldn't dare drive nude.