My last physical was in 2019, because of COVID, but I will share some thoughts.
I have been going to this clinic since 2016 maybe. It is very small and independent with just an NP in her 50s and an MD in his mid-60s. I'm pretty sure they give the most-thorough physicals around, at least the MD does. This is partly because I have a history of prostate cancer in the family and have made it clear I need to be screened for that.
Each time, I have been instructed to undress and wear a gown. For the physicals from the MD, I have been told to take off my underwear before the doctor comes in. The most-recent exam for the NP they told me I could leave my underwear on. She reached into my shorts briefly, while I was standing, and examined my testicles, but no hernia check and no penis exam. She checked my prostate with me on my side, after telling me to slip down my underwear. This is awkward because it's hard to take down your underwear when you're also wearing a gown. I don't feel like she pushed inside me too far.
The MD is more thorough. He pushes up the gown while I'm lying down and checks my testicles and visually inspects my penis. Then he has me roll on my side to do the DRE. He inserts his finger very deeply and thoroughly checks my prostate.
Before going to that clinic, I tried a clinic that was part of a big medical group. I was excited to go because the doctor was young and very cute and still a junior resident. I thought chances were decent that maybe a teaching doctor would be in the room with us. (I had a fun experience when I was 19 and examined by a medical resident not a lot older than I who was nervous as he told me to undress bit by bit, until I was in my white briefs, which ended up at my ankles as he fumbled around on my penis. At that age, of course, DREs are rarely done and that was true in the 1980s when it occurred.)
The more-recent exam from the medical resident was disappointing, and quite honestly was concerning, because there was no DRE or any undressing at all. The young resident made it a point to tell me they don't do DREs anymore, and the PSA is more than enough, so that is what he did.
Based on my experiences, the days of the thorough physical exams are numbered.