When asking people if they are currently going commando (not wearing underwear), should I say
Did you came commando?
Are you on commando?
or something else?
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This would be regarded as very rude to ask someone, so just don't. Exceptions might be if the person you were asking was your sexual partner, in which case it might be acceptable, depending on context, or if you were a medical professional with a legitimate need to know, in which case you would avoid slang and ask something like "Are you wearing underwear?".
If you were going to ask a sexual partner about their underwear, you'd say something like "Are you going commando?" if you were going to use that idiom. "Going commando" is an idiom, and changing the first word is incorrect.