I like a girl to start fully clothed in casual wear normal clothes and end up totally naked.
Stripping off a girl like this is a bigger turn on for me than any supposedly erotic outfit.
I used to have a regular who was great for this. My favourite was her starting in jeans and t-shirt and we would spend ten minutes or so just snogging and dry humping. I would then get her boobs out for a play then unzip her jeans to finger her pussy. Once she was wet I would get her to kneel in doggy fashion and pull her jeans and knickers down just far enough to enter her and go at it energetically.
After a couple of minutes of that I would remove her jeans and knickers and all my clothes and then fuck her missionary for a bit then get her to ride me in cowgirl for a while then remove her t-shirt and bra leaving her completely nude and we just suck and fuck for the rest of the hour. I miss her!
I think the reason I enjoyed this so much as it takes me back to my first proper girlfriend back when I was 16. I used to go round her house several evenings a week and, as she shared a bedroom with her sister, we mostly spent time in the dining room which had doors to the kitchen and lounge.
Most evenings ended me fucking her doggy style with us both still clothed as described above whilst her parents and younger siblings were just a few feet away in the lounge
I only remember a handful of times when we managed to get enough privacy and time to get completely naked but they were certainly memorable.