“Let those under your authority ask your permission” (al-Nūr 24:58, excerpt) introduces permission at three times of household privacy.
Some historical discussions cite a decline in the practice of seeking such permission. But the disappearance or neglect of a social custom does not by itself establish repeal of a Qur’anic direction.
A rule’s continued legal force and the fact that people do or do not observe it are separate matters. Claims of abrogation require a subsequent authoritative proof, not merely a change in household habits.