Accidental exposure is NOT brandishing but should be avoided if at all possible. No ID, badge or any other ID would make it better, IMHO.
Printing is NOT illegal and accidental exposure would be judged on its own circumstances. For instance, IF you purposely show the weapon to a friend in a public place and someone else sees it you could be in trouble. However, your shirt slipping up as you reach for something on a shelf is innocent and could easily be explained to a LEO IF other circumstances are absent.
Best solution, conceal it well and never allow an accidental peek to ANYONE.