Wow, I don't think thee is a season where he doesn't take his shirt off or at least unbutton it to his navel. But maybe he doesn't in the first season. Hmmmm, I may have not given this phenomena the attention it deserves! I do know that as the show went on he took more off more often and Season Two seems to have a lot - especially compared to Season One - a season where I recall robes more than towels. I don't have an episode list though there are some that stand out in my memory.
Season Two: Steele Away with me - changes in front of Mildred Season Two: Red Holt Steele - fresh from the shower putting his sweatshirt on Season Two: Dreams - in the shower Season Two: (again) In a towel in My Fair Steele Season Two: (again) Firebreathing in High Flying Steele - he's in a very non covering vest Season Three: season opener in Cannes - Steele At It - in towel Season Four: Cornfed - runs with his shirt open Season Four: Forged Steele - in his underwear Season Five: changes in front of Mildred again
Have you ever noticed that Mildred got to see more of him partly nude than Laura did?!?! LOL!!!
It's not a bug, it's a feature! The writers couldn't have Steele seriously stripping down in front of Laura without taking the tease much father than they were prepared to go but with Mildred you had a perfectly safe way to unwrap him for the audience. They knew on which side their ratings bread was buttered, LOL! (I think we all owe Mildred a round of drinks!)
They could still play the same card they'd been playing with Steele and Laura (Sexual tension! Party of two!) plus they got the comedy bonus of Doris Roberts' reaction to the action.