Woman Keeps Being Naked And Semi-naked In Front Of My Family

I live in Texas. There’s a car that says MILF mobile that seems to belong to one of my neighbors. Ew, but if it were just that I would just try to distract my kid from reading it when he’s old enough to read. But when my husband takes the kid for a walk in the evenings, they’ve seen the neighbor lady exiting the car wearing nothing but panties, and today he saw two people in that house standing fully naked in their house with their front door open. My husband was really uncomfortable with it, and we don’t want our kid to see that.

Is all of this legal? I’d really like the neighbors to keep their nudity behind closed doors.