The written word is very impersonal so please take this with affection. If someone breaks into your house, aren't they the ones with the problems? So what if they see your stuff - they're the ones who shouldn't be there.
But if you widen the issue out - how about unexpected visitors. Again, this is your personal life - it's their problem.
I am always naked at home. Somebody calls unexpectedly, I answer the door naked. If known, in they come. If not, I simply say, excuse me I'll put something on.
Slightly more difficult if your tied up or using equipment, but who says you need to answer the door?
Finally, your true friends take you for what you are, and if they can't deal with it - are they friends?
To bore for England, I have a number of female friends who "know" I like being submissive and tied up. It's now a running gag. They don't join in (dammit) but it has made no change to our relationship. Friends with boundaries are still friends.