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Just put a clothes stockpile nearby like in the pictures. You don't really even have to, there's no penalty for them walking naked to the stockpile except that they have the naked mood penalty for longer.

Mostly they grab a new set because they won't wear clothes that aren't on a stockpile.

Yeah but clothes lying around on the floor will trigger the 'do until you have x' work order since they're not considered in your possession if they aren't located on a stockpile. I do find the clothing system frustrating enough as it is, with the whole tattered apparel and stockpile issues the game already has. Also if you have a smaller colony and the work is piling up there likely won't be enough haulers around to quickly grab the dropped stuff and haul it to the designated stockpile.

Which then might lead to a pawn sewing together a new set of clothes rather than pick up the stuff that is lying next door.

You could try leaving a low-priority clothing stockpile where the colonist will drop the clothes.

1.I don't know if it is possible or not but you could make the clothing invisible while bathing.

2.Also can you make the baths and showers personal like beds.

3.Need toilets too, even if it is just a joy object.