Does not wearing a bra really improve the form/shape of your boobs?

I'm considering stopping wearing a bra when I'm around the house, because I have really weird shaped tits, and they're really saggy even though I'm only 17. I would like to improve if I can, but I'm also scared that not wearing a bra will only make them sag more. My friend told me that the reason that my boobs are so saggy could be because I never wore a bra during puberty (when my boobs were forming) so they didn'y develop a proper shape. 

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