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Sleep Intimate changes Fallout 4 sleep and romance for a more immersive experience. This video demonstrates situational undress--characters have bathrobe sleepwear in inventory--and redress in addition to using Outfit Container to quickly change clothing.
Mod available for PC and Xbox One (XB1), and note that XB1 version differs from PC version. See webpages for details:
PC: https://www.dracotorre.com/mods/sleepintimate/
XB1: https://www.dracotorre.com/mods/sleepintimatexb1/