We don't cover our bodies because we are necessarily ashamed of them. Clothing serves many purposes: Warmth, hygiene and protection, among others. If you were walking in public wearing only boxer briefs, fine, you can do that, but you have to know that's going to shock people. Why not wear actual clothing besides undergarments and see if that stops the shocked stares and comments? Some people enjoy getting reactions by dressing in unusual ways, but it sounds like you don't enjoy it; the comments make you feel bad. An easy fix would be to wear clothing that doesn't stand out as much as just underwear does.