When I undress at night I put my dirty clothes next to the bed in the same place every night. If I have to I can grab my trousers (PSK and EDC in pockets already) in the dark. If I had time I could grab the rest with my delay in leaving the room only a couple of seconds. I do not plan on leaving the house naked so am going to grab trousers no matter what. To be honest I can grab trousers with one hand and boots with the other with no time delay on exiting the room at all. When I get up in the morning without an emergency its just a case of putting on new clothes, transfering EDC to the new pockets and putting the dirty clothes in the washing basket. As long as you dont mind untidy clothes on the floor when you are in bed it solves lots of problems.

Again if I'm in the shower or bath my trousers and shoes are within grabbing range.