That's one of the first things I do! Walk in the door, put stuff down, kiss the baby (and DH if he's lucky lol) and then change my clothes (and hope no one shows up at our house unexpectedly!).
I always change since I'm tired of being in a uniform and would rather not run errands like that. Plus they have a rule in the handbook that we can't wear our uniforms outside work or we'll be fined if caught!