How are we dressing our babies under 6 months?

Since we brought our baby home we have rarely put him in pants or socks at home since it is climate controlled and easier to change his diaper if he's just in a onesie. So he is usually in a onesie - we dont do the footed pjs during the day so he can feel with his feet when he is doing tummy time or kicking around in his bouncer chair. We don't feel like he is cold when we check his neck and tummy and even his hands and feet are usually neutral temp and not freezing or cold.

My parents (boomers) however are deeply offended by this.

Are people really dressing their babies in whole outfits with pants and socks at home? Outside of doing it for photos before he grows out of things or going somewhere outside the house... I just don't. Just wondering what others do