Depends on the doctor I go and see.
For my GP for a sick visit - the nurse takes history, bp, weight, temp etc then escorts me to the exam room. My doc comes in and does a quick exam over my clothes focusing on the area that is sick and sends me on my way. No nudity. No need to get up on the exam table unless he requests it, but he usually can examine me in the chair I'm sitting in instead of on the table. I like him because he goes to where I feel most comfortable and does not invade my space especially when I'm not feeling good at all.
For my Pulmonologist/sleep doc - much the same process as my GP, no exam at all unless I bring up concerns such as a cough ongoing or an issue that needs checking. I usually see the PA instead of the doctor for my follow ups and have not been asked to sit up on the exam table since my first visit there over 4 years ago.
For my OB GYN - same process as above, but the nurse follows me into the exam room, and gets me set up for a full exam, including gown and instructions to strip completely. She then leaves and then my doc and the nurse return to complete the exam. I am completely naked underneath the gown except for my socks on my feet.
For my Endocrinologist - Same process as my GP, but when the doc comes in, he takes his own detailed history and updates his own notes, then asks me to get on the exam table himself. I'm still fully clothed, but he does a fairly complete exam. He lifts my shirt to examine me while I'm up on the table.
Each doc I have been to has their own methods of doing things and I only return to them if they make me feel comfortable in the visit.