Three minutes was enough

The Middle Ages lasted for a thousand freakin' years from the 5th to the 15th century. In that span of time people went nude on occasion, like at home, bathing, alone in the wilderness or skinny dipping (yes, it happened -- the horror, the horror) and I'm pretty sure that a woman here or there wore something akin to modern-day panties, which is essentially what bikini bottoms are; not necessarily in public, but it happened.