There's really no reason for anyone to know other then your spouse since it will be rather hard to hide it from her or him. Other then that there's no reason why anyone else should be worried about what underwear you chose to wear. Also we can be ourselves around other people but I chose to hug my plushies in my bedroom. I am not sure if I would even carry my plushie around with me all the time if it was okay for a 20 year old guy to even be carrying around his stuffed animal.
However if I were to join the military I would try my best to take one with me. Embarrassment be damned.
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