Over the years I've had a lot of variety. Some have been very quick, and some curiously long and drawn out. Just to be honest. I LOVE having my prostate massaged and no one does it better than my wife (on my back, rear end up on a pillow, and ankles on her shoulders). And yes, female doc, please. They seem to be gentle but thorough. Here goes.. in order of frequency:
Sims Position (on side, legs drawn up): Many times, seems to be a favorite of female docs.
Bent over the table: was the "go to" move by my the older male doctors I had when younger. Mostly standing with legs spread. A couple of times on my knees on a pull out shelf. Table was electric and tilted down.
Knee-chest: a couple of times including a memorable exam by a female PA and two students.
Grab the ankles: twice, kind of weird.
In the stirrups; once, progressing into a very thorough and lengthy prostate massage as relief for prostatitis and to get a sample for a slide. Young male doc, really knew what he was doing. Almost resulted in a happy ending. That feeling of having your ankles held apart by the stirrups created an intense feeling of vulnerability.