Chiming! When I'm at home (which is nowadays a lot, as I'm currently unemployed) I don't wear underwear. Just wearing sweat pants is a great way to keep my equipment hanging nice and loose.
When I'm going out though, I will wear loose boxer shorts. Those are the only kind of underwear I can think of being a good compromise. But, finding these loose fit boxer shorts is a dreadful task at times in my home country.
Most boxers are these constrictive cock chompers that just squish your balls. Probably some freaking secret society behind these, trying to make men less fertile with tight underwear.
So, just in order to stay more "clean", I do use underwear when going out. Although, I've gone commando several times, especially when I had brief trips.
Commando as often as you can!