Your parents shouldn't care if you sleep in the nude. They really shouldn't be coming into your room in the morning, unless your alarm clock has been going off for 15 minutes or something. And if you need an extra blanket to keep yourself from being exposed, that's a relatively easy fix.
I think we all deserve privacy in some way, and that privacy is usually ours when we sleep. We should be able to sleep naked if we want to or not, if it's comfortable to us or whatever. I mean, it's not that bad; no one sees it so yeah, just do it. If your parents find out, just tell them you were uncomfortable or you wanted to do it or whatever your reason was. I do it every once in a while and it's really comfortable.
I don't know why you hurt inside or what was said to make you cry
I hope that you can see you are the greatest thing to me and when
you're feeling like you're not enough I'll give you wings, I'll lift you up
I hope that you can see you are the greatest, greatest thing to me
As said, you should have a little bit of privacy, so why not just sleep naked if that is what you really want to do. If your parents come in and discover you naked, well explain to them that you're a teenager and you wanted to try new things.
what i did is i told my parents that i would like more privacy and they understood
its best to start with sleeping shirtless, then in just boxers, and then completely nude. always keep boxers and a shirt around your bed that way incase of an emergency you would not have to run out of the house naked