I used a cloth sleeping bag before and always slept in it with clothes on. At my friends house, all she had to provide me to sleep in was a sleeping bag made of polyester inside and outshe said I had to sleep in it totally naked due to its material. I did so and was very warm and comfortable. But are they really meant to be slept in this way?
It's inside of your sleeping bag. You sleep in your birthday suit or with pj. I usually sleep with shorts satin pj, and short sleeves matching top, while we're inside our sailboat, only because it's cold when we get up. Sometimes, I have nothing on, because of hot flashes. Depends what season it is. Mine was lined with flannel, so it's more warmer. If it is borrowed, I wouldn't want to go naked, it's just me.