I believe the point about pajamas is related to the discussion at hand. Why aren’t you sure that it would be okay, given your stated position about showing affection in front of your children is okay?
Can’t we simply agree that one’s immediate family is closer than one’s neighbors and that they will can (and should) have greater access to your private home life than your neighbors?
Yes, we certainly can agree on that. For example, at home you might have some lighthearted discussion with your spouse (in front of your children), that you wouldn’t have in front of non-immediate family (even if they were guests in your home). Nevertheless, even though it is less restricting in front of immediate family, there still are restrictions even then.