Judaism is very focused on proper social behaviour.
So, a symbol of our faith in the sense of something that would tell a person whether or not we are Jewish has no regulation banning it from the toilet or sex. I would wear my kippa/yarmulka/that-thing-on-my-head pretty much anytime I'm awake. I make an exception for walking down really windy streets where it could get blown off. The same would apply to any symbol worn on a necklace or ring.
From what I've been told by Muslim women the similar rules apply to the hijab. It wouldn't be worn in private or with your family.
WE have ritual garments, like the Sikhs, Mormons, Zoroastrians, and Hindus. A Tallith (prayer shawl) and T'fillin require a special blessing to be said when they are first put on and only used for prayer. They have to be removed when going to the washroom and as the conclusion of prayer.
Here's a picture of a young man of my ethnic background wearing the garments.
https://www.shutterstock.com/image-photo/young-sephardic-jewish-man-tallit-tefillin-56352403
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