Exactly - they can ask as a favor to “be more aware”.
Otherwise - generally they must observe for it to be indecent exposure.
You can do what you like in your own home - provided it’s legal and not a public nuisance (ie loud music, displaying visible hate speech, ect).
Obviously- it’s best not to get into a pissing match with cops - just be respectful and continue on - let the complainer be their enemy.