I always bring PJ's. Right now my favorites are the set I got in Thai F a while back. Not sure who makes them but they are comfy for sleeping in, and I don't seem to overheat in them with a blanket.
For safety, I don't usually change till the seatbelt sign goes off and usually change back before landing.
In terms of lav, look for ones with the fold down baby changing table, so you have a place to fold your normal clothes and makes the whole process a bit smoother in the small space.
For the germaphobes, I always use the soap, water and towels in lav to clean the table first...