A few years ago, during the pandemic, I was in for my annual exam and my regular doctor wasn't available. A elderly male doctor I'd never seen before, wearing a plastic helmet with an electronic breather, came into the exam room and asked only a few questions before he told he to take off all my clothes.
I was taken aback, not having been fully stripped down for an exam since probably 50 years earlier, when I was a kid. (And my regular doctor of 5-6 years at that point, hadn't even done rectal or testicular exams on me.) So as I started unbuttoning my shirt, I asked Lord Vader there, "Everything?"
He told me I could keep my boxers on, "for now."
Later, with me on the exam table facing up, the helmeted doc was finishing some deep palpation into my bare abdomen, and had reached my boxers, with his fingers slipping under the waistband. Given what he's said earlier, I thought he was just going to pull down my underwear, making me completely naked. But instead, he put on a pair of gloves and scooped his hands inside my underwear: rolling, fingering and stretching my cock, then probing my scrotum and balls, by touch.
Given his thoroughness, I guessed that he would soon have me stand up, bend over the table, and pull down my boxers for a rectal exam. But he didn't.
In contrast, when I went to a local massage provider (not a massage parlor) to get some relief for my lower back pain, there was a pleasant surprise. The massage therapist there, a lovely lady in her 40s, had a strict posted rule about the client keeping underwear on, during massages, which of course I always did. But that time (one of many sessions with her, over the years), I'd let her know that the pain was radiating into my hips. When she had finished massaging my back, she just slipped her fingertips inside my waistband and pulled down my boxers entirely, all the way to my knees, so she could work on my bare hips. To be suddenly completely naked by this long-term care provider was a very unexpected treat.
As her fingers stroked and caressed my naked hips, I got hard very quickly. Though I would have been embarrassed for her to see my erection, I was hoping that she'd just keep my boxers down when she asked me to turn over, so she'd see all of me from the front, as well. But no such luck.