Throughout the 1900's (damn, that makes me feel old) my exams usually started with me wearing just my underpants. They were either be lowered or removed near the end of the exam. I was usually asked to lower/remove them myself. But there were several doctors who would lower them themselves if I was standing.
I did have one doctor who wanted me naked through the entire exam. He was Indian, Dr. Ram (with about 20 letters following). For my first exam with him, his nurse (also his wife and receptionist) escorted me to an exam room, did the premilinararies then told me to remove 'everything'. I assumed that meant all 'outer' clothes so I striped to my underpants as usual and sat on the exam table.
When Dr. Ram entered and we had introduced ourselves he had me lie down on the exam table. He then asked me to lift my hips, which I did, and he proceeded to slide my underpants down and off, hanging them a hook next to the rest of my clothes. My initial thought was 'I guess I'm not getting those back any time soon', and indeed they stayed off for the entire exam. I wasn't bothered but thought it unusual. Maybe it was the custom in India (Dr. Ram went to medical school there.)
Subsequent exams followed the same pattern, I just knew to start off striped down completely. I thought he was a good doctor and stayed with him until I moved from the area.
This century, the norm seems to be to minimize exposure for most general wellness exams.