What type of underwear is permissible for men?

Salaams, I wanted to learn more about underwear that is permissible for men. I am a sunni muslim who follows the hanafi madhab and would prefer a scholar who can give me the hanafi fiqh regarding this question. I am aware that most underwear is permissible providing it is not in the haram colours such as red and does not imitate the opposite gender. However, I wanted to ask whether jockstraps or thongs made specifically for men in satin or lace material is permissible. My wife does not mind if I try them out and see whether I like it or not as we have discussed amongst ourselves. But first I wanted to understand deeper into this topic as to what is permissible and impermissible. This underwear I only intend to wear at home with my wife, i do not intend to wear it outside, i do not intend to reveal my awrah by wearing said underwear on a beach etc. This is specifically to be worn in the comfort of my home. So to my understanding aslong as the underwear doesn't look like something made for women, then it is permissible? Please help me confirm what is and isn't allowed. Jazakallah for taking the time to read my question and for taking the time to answer, inshallah I'll receive my answer and take things forward from there.