Boys and Undies!

Lately with my 5 (almost 6) year old we have had a never ending battle of him wearing underwear. He's a very difficult and emotional child so this is only one of the many battles we endure lol. We do a lot of pick your battles with him and giving him options. He's just a child that does better if he has the illusion of controlling a situation. This underwear thing though, we can't decide on. I know many adults who would choose commando over underwear any day. How do you guys feel?