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Does Zim have full cooch out when he shows off his leg to Dib?

Khhhh, yes. He sure does. And he loves to see how uncomfortable it makes Dib. But only because this defective bug has no shame at all - he can't understand those feelings nor experience them.

This is another headcanon based on Johnen's words that irken's have no reproduction organs. Well, I do believe that they still have some as a rudiments inside their bodies - those are just underdeveloped (most likely modern irkens have no idea how to use them and may not even know about their existence). Since their entire species no longer naturally reproduces and therefore rejects sexual and romantic relationships, they simply can't perceive their bodies as something intimate.

They also have no need to cover any parts of their bodies, and in fact the only reason why they're still wearing clothes is because they associate nudity with vulnerability which is unacceptable in their militaristic society. In that case Zim's underwear covers only those places where his armor is in contact with his body, not his no-no square.