Seems to me like a very nice thing for her to do. I certainly don’t see any ill intent.
I have worn only panties for many years now and never had an issue, nor do I even think about it much these days. I wear a thong if I am wearing form fitting pants, and nearly all of my other panties are bikini styles so showing is pretty unlikely. No doubt it has happened, but life goes on. Just wear the panties you like and enjoy the feel and look. Life is too short to worry about such things.