There's a lot of strange assumptions floating around here:
First, even in plain English, "naked" is often used to mean "only wearing underwear". Similarly, "taking off one's clothes" can also mean "stripping to one's underwear". This is just basic English we're talking about here.
Second, as Londo111 indicated, nudity is not automatically erotic. That's a very chronocentric and ethnocentric way of thinking. Wearing a towel to protect one's nudity after a bath is a modern concept. Towels were used for drying, not for wearing, in a culture where bathing publicly with the same sex was common.
That being said:
The WT "translates" himatia as outer garments but some other translations says just clothes
Didn't you answer your own question here? A himation was the cloak that people draped over themselves as an outer garment. Although I can't speak for the unnamed disciple who was seemingly going commando, most people would certainly have worn underwear underneath it. Draping a towel around himself was simply a way of keeping off the ground the object that was being used to dry the feet after they were clean.
hi·jack ˈhīˌjak/ verb past tense: hijacked; past participle: hijacked
LOL, that was an apropos way to hijack the thread.
