26, stopped wearing underwear in 10th grade. Don't even own any.
I understand why you react by thinking that's gross, but it's both because you've been TAUGHT and conditioned to think it's gross and also because you've understandably never actually stopped to consider the matter your whole life. It's just something everyone does right? Seriously, genuinely think for a moment about WHY you wear underwear. You'll realize there is very little reason to, and generally undergarnments do almost nothing that pants don't already do.
I change pants twice a week and shower often. I have always been a very sanitary and sensibly clean dude. I guarantee I'm cleaner than most of you here. I wipe. A lot of people are fucking disgusting and don't clean themselves down there, and THAT'S why all children are told to wear underwear, for sanitation. Once you are old enough to take care of yourself they serve almost no purpose. They're a fucking hassle for no good reason.
My only exception here is that women really should definitely be wearing underwear during their time of the month, and anyone with continence problems should as well. To both genders: pick a nice pair of pants with a soft inside that feels comfortable (to girls, make sure the crotch is rounded so it won't ride you like dental floss. to guys, please make sure the front has cloth covering it--it's all fun 'n' games until someone's dick gets caught in a zipper). Do that, and you may safely abandon the oppressive tyrant fabric that keeps us all one layer separated from each other.
It's such a freeing feeling.