How to Take Off Clothing on Companions in The Outer Worlds
Go into the inventory menu, choose your companion, and then click on their armor slot to remove it. Easy peasy.
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Head to the inventory screen, select the companion, and just unequip their armor. They'll be rocking a more casual look in no time!
Simple! Just go to the inventory menu, select your companion, and hit that unequip button on their armor slot.
You can't actually make your companions run around in their undies, but you can switch their armor for lighter gear if you want a different look.
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