Would it be wrong

He might comment if you don't have your pyjamas on either, but I am sure he has no complaints

Pajamas, yes.

Skimpy frilly negligee...? Maybe a little less appropriate.

Sure why not? Sure he has probably seen that and more before while out on deliveries.

...and of course: What your definition of pajamas might be...lol

Perfectly fine till you are not bothered by it i guess ;)

Totally depends on what you're trying to achieve ...

It might depend on the driver...lol

No issues

Nothing wrong with that at all.He'll be talking about it for years!As a former delivery driver,I can remember all of my 'greatest tits',lol.

depends on the level of coverage of the pj....
...and obviously on what you want to achieve

Can you post a photo? Then we can advise you better.

Course it is. That's the point in a home delivery.