Peace,
To be vigilant is to be mindful, encompassing the need to cover intimate parts. Once again, pay attention to the transitions. The concept of grown women prancing around naked, revealing their intimate parts to fathers, father-in-laws, sons, son-in-laws, nephews, and others is absurd and incestuous, irrespective of historical context.
Similarly, the advice provided is not time-specific (e.g., 33:59) and applicable for all times, including our present. Even in contemporary times, there are numerous tribes without modern amenities that consistently exhibit this decency—a cultural norm that has never wavered throughout history. Observe isolated islanders, Amazon jungle inhabitants, Australian aborigines, African bush tribes—all of whom uphold the decency of covering private parts in the presence of family members.