I don't know what books your are referring to, but in the original stories by Howard Conan almost always wore armor of some type and definitely didn't go running around in his underwear if he didn't have too. I don't really remember the women being under clothed that often either.
all of women in any book spend a majority of the time naked or almost naked cuz of different reasons [ sex, torture , or just that`s how they dress ] .all female thiefs or assassins Conan meets are dressed skimpy at best. all " serving girls" wear almost nothing.almost all dancers are nude.and almost all women in all the stories end up naked in a cloak for half like the book. even "powerfull" female characters spend almost all their time when around Conan naked or almost naked.
I guess I will have to go back and read the books (and by books I again mean the original Howard books) because that is not my memory. However, I am sure Conan himself was usually clothed and armored.
I just finished all Conan books like 2 months ago. [ Got most of them in audiobook format , and it made working for home on boring projects a lot better ! ] Love the universe and characters. Peace out brotherman !