This is epic, but knowing Yoruichi lingerie is not her thing. She's nude or wearing simple boyshorts/panties with a sports bra. Maybe she'd wear a fundoshi but that's it. Were she my live in waifu she can go full commando or just wear her iconic spandex pants. She really turned me on to such skin tight bottoms as a kid.
I'm pretty sure Sui-Féng wears a fundoshi to. You can usually see the sides of it on her hips whenever she removes her captain's haori, so I'd picture her in a fundoshi with a sarashi tube top. And Tatsuki strikes me as the type who wears either shorts, or cotton briefs.