At my last physical, the NP asked me to remove my arm from the paper gown (which was open to the back) one arm at a time for the breast exam. This was done bilaterally with my hand placed behind my head as well as with my hand resting on the NP’s shoulder. First this was done sitting up. Then, when it was time to lie back, I was asked - once again, one arm at a time - to remove my arm from the sleeve while the breast exam was repeated. Again, I was instructed to place my hand behind my head, then the NP lowered and repositioned my arm for the repeat palpation.
I have never been asked to remove/lower the gown for auscultation of heart and lungs. Usually, the stethoscope is just placed over the gown in the front - or maybe just below the gown, as it is relatively loose. Then, since the gown is open in the back, there is no impediment from listening from behind.
For the abdominal auscultation and palpation, the MD/NP is usually pretty coordinated and adept at keeping the drape in place and keeping the lower abdomen covered whilst lifting the gown enough to just expose the abdomen.
A couple of times in the past five years or so, I have even found myself on the exam table for a visit to specifically address an illness at the time. Both times, it was to obtain a prescription to Tesalon Perles for a cough. Both times, auscultation of heart and lungs was more thorough both from front and back. Neither time involved disrobing; in fact, I remained fully clothed. However, the practitioner did ask my permission to go under my garment to listen.