The pediatrician that I had growing up always made me strip down to my underwear for physical exams and it was something that I dreaded. There were two exams that I had to get during puberty (ages 13 and 14) that I remember finding very embarrassing.
After checking my eyes, ears, nose, and throat, he asked my mom to leave the room. He then gave me the instruction “take off all of your clothes except for your underwear”. After I stripped down, he had me do a series of exercises in my underwear: touch my toes, swing my arms in different directions, walk across the room normally, walk on my tiptoes, walk on my heels, hop on one leg, duck walk, etc.
He then had me sit on the exam table and checked my reflexes and the strength of my limbs. I then had to lie supine on the exam table for him to visually inspect and palpate my chest and abdomen. When he was done feeling my stomach, he informed me that he was going to “check [my] penis and testicles”. He slid my boxers all the way down to my ankles and removed my right leg from the leg hole. I was completely naked for the genital exam apart from my boxers hanging around my left ankle.
During the genital exam, he looked through my public hair and examined my penis by inspecting and palpating all sides of the shaft and glans and pinching open the urethral meatus. He also examined my scrotum's skin and palpated each of my testicles. After that, I was informed that the exam was over; I sat up on the exam table and pulled my boxers back on, then hopped off the table and walked over to my clothes to get dressed.