Lady's underwear hasn't been around for all that long. Even the well-to-do only started wearing drawers 200 years ago and the first brassiere dates from 1889. For ladies of lower rank underwear came at a more recent date. In earlier times a long linen shift served for both top and bottom.
In 1849 American women's rights activist, Amelie Bloomer, came up with the idea of knee-length loose-fitting pants to promote freedom of movement. In their original form they were not meant as underwear. As such they were healthier and more comfortable than today's tight fitting jeans.
Many of Egon Schiele's paintings show his models wearing either drawers, pantaloons or pantalettes. Drawers were thigh length and less frilly, whereas pantaloons and pantalettes were more decorative and came down to the knee. Pantalettes were in two pieces, one for each leg, and tied around the waist. Hence the derivation of the term, "a pair" of knickers. briefs, or what have you.
This preamble leads to what - if anything - goes beneath my Bare Minimum range of dresses. You can be assured that, whatever I come up with, it will be an alternative to getting up tight and as provocative as Egon Schiele's paintings.