I heard that, a long time ago, people wore no underwear beneath their clothes. Craftswomen, girls walking around the street, little girls, even princesses...
Shinpachi
Isn't it all the same? If you wanted to give examples, you should've given a broader age gap to nclude old women, adult women and young girls.
Regardless, our ancestors never paid no mind to underwear, nor did they wear it. In other words, one could do whatever they liked. Even the princesses were valiant like generals under their kimonos!
Even when they seemed docile on the outside, they still were like a shogun on the inside. Or barbarians in-- [Otae interrupts him by punching his face.]
[deep, serious voice.] I don't want you to bother me with your "no underwear" theories. That darned thief stole my favorite "battle panties", the pervert!
[still with Otae's fist buried on his face.] And what will that get you? Would it satisfy you to get revenge in a duel to the death just to recover something you lost? Is that acceptable, if only to recover your panties?
[in her usual gentle tone.] Oh my, Kagura-chan. [back to the deep, vengeful tone.] Well said. Come on, let's drink to celebrate this sisterly relationship.
[whispering] Uh? I've been discovered? Couldn't be... But, uh... They must've spotted me. Ah! I've been caught! What's that?! You think I'm the thief?! [tries to stand, only to bang his head against the table.] A samurai of my class would never lower himself to steal women's panties!
[laughing] It comes to show how unpopular you are with girls! You're pathetic!
Shinpachi
Yeah, I see. There's a proof that you, too, aren't popular with girls sticking out just like a sore thumb. [indeed, Kondo has a pair of panties halfway outside his coat. He notices and quickly covers it.]
[holding his panties with enough strength to almost tear them apart.] He's nothing but a pervert, but acts like a heroic thief! I cannot believe it... I just can't! [tears the panties.] How should he know I wasn't popular with the girls?!
Well, the Shinsengumi is here to guard and protect the peace of the city. And what is peace? It is to make sure the people will live happily and free from disturbance! To assure the felicity of anyone under our care, we've sworn to make an even better peace! [Otae giggles, he blushes slightly.] That is why, Shinpachi-kun, protecting your sister's underwear is also in the Shinsengumi's mission!
It turns out someone's been stupid enough to send one of these pitiful panites to Hijikata-san. [shows the panties, which Hijikata promptly slashes to ribbons.]
Couldn't you think of her brother, who's seen so much of his sister's underwear that he's grown desensitized to it? Kind of like a romantic scene that causes constipation when you watch a drama with your family.