Hasn't happened to me despite having undergone my share of medical exams for a variety of reasons.
Spent months in hospital in the mid-1950's for a neurological disorder and was used as a teaching aid for more then one classroom of doctors-in-training, and never naked.
Military physicals (six total during my career) during which the closest to nakedness was dropping my trousers and boxers for a finger wave. Even the induction physical was done clothed except for a short period when we all stripped to our skivies for body insepctions for whatever they looked for.
After a heart attack I was placed in a bed from the gurney and stripped to everything except my boxers. There were four females nurses involved in the process and I made the mistake of asking, "Slow day?" Boy, did I get shushed!
A couple years ago I developed an infection in my reproductive tract and Doc had me drop my trousers and boxers to first check for a possible hernia.
Having accompanied my wife during a gynelogical exam, she remained covered and the Doc basically lifted the sheet covering her lower half for the exam. Wife kept her clothes on from waist up.
My understanding and experience indicate a naked medical exam or treatment is seldom, if ever, performed fto maintain the comfort of patient and practitioners alike.