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(covers information from several alternate timelines)
Like other garments, underwear could be made to withstand a variety of conditions, including fire. In 2152, Trip Tucker rebuffed T'Pol's suggestions that he push the engines of Enterprise NX-01 to their limits by saying that his underwear was flame-retardant, but he wasn't going to light himself on fire to prove it. (ENT: "Cease Fire")
Li Nalas was remembered as having killed Gul Zarale, an infamous Cardassian military leader on Bajor, in single combat, but he had actually shot Zarale while he was unarmed and in his underwear. (DS9: "The Homecoming")