Nine didn't do domestic but Rose influenced him to be more comfortable. Ten was more people friendly but would still protest against having a life like a human.

I did notice that both Amy and Clara both say to the Doctor that his rubbish as a human. Martha said it when he was actually fob watched.

I heard the commentary for "The Shakespeare Code" where David Tennant mentioned the bed scene. He was told to stripped off his clothes. He said that the Doctor would not be that insensitive towards Martha.

I guess theres a fine line between nakedness or being in close quarters with a female champion in a bedroom. A bedroom is just a room to him.

Eleven got naked in front of both Amy and Clara. He was oblivious to their reactions. Although both responded in different ways.