I fantasize about it sometimes and, despite of the initial embarrassment I'd probably have, I think I'd end up enjoying it. My idea is to travel someday to Countries like Russia, India or China and visit there a Dr who doesn't speak English nor Spanish (so I'd be needing an interpreter /Translator in the Exam Room with me witnessing the examination) So far it's just Fantasy, perhaps it will come true in the near Future hopefully.
Regarding Real Life, the closest that I've been to that situation (but never actually happened) was in two occasions. Once when I was 18, my Younger Cousin (who lived 10 Blocks away from my place) was visiting me because he was home alone (and bored) I had an appointment that afternoon with my Dr (which would end up with a Full Physical) when I told him about it he showed more than happy to accompany me (he'd probably get into the room as well) but half an hour prior to leave towards Dr's Office my uncles, his parents, were back and called him to return home, so he could not join me that day.
The 2nd time I was close to have someone watching me being examined was one day when a kind of superficial Cyst appeared suddenly on the Tip of my Penis, on the Foreskin, it was half a Centimeter round, and it hurted a bit, I was 23. my Mom, who was a Nurse in a Public Hospital, took me to see one of the Urologists there. That day he wasn't checking Patients in the External Examination Offices (it's the Area in the Hospital where every Speciality Dr like Cardiology, Clinical, Oftalmology, Urology, etc have their own Private Office to examine their Patients) instead we had to go to the Urology Service, located on the 2 Floor in the Hospital's Main Building.. When my Mom and I got there we've met with one of her Co Workers, his name was Arturo, a man in his late forties who knew me since I was about 10 y.o (he wasn't a Nurse, he was kind of a Janitor in that Area) My Mom asked him about the Dr, he went into one of the rooms to look for him. The Dr showed up, my Mom introduced me to him and then we moved a few feet away to talk in private (we were in a corridor) while my mom and her Co worker remained there doing some small talk. I explained the Dr the reason why I was there, while I checked on my Mom and Arturo a couple of times (and saw another Nurse joining the conversation with them) and I saw Arturo checking on me and the Dr as well.
Dr said "Ok gonna check the Cyst to see what is it, let's go behind that screen and show me" (it was located at the end of the corridor and there was an examination table behind the screen) We got behind it, where no one else could see us. I then proceeded to unbutton and unzip my pants and took out my Penis. The Dr bend a little, took out a Pen Light he was carrying in his pocket and looked the cyst carefully and said "ok, it's nothing really important, it's kind of an Eruption, get dressed" He then explained it may come out from an allergic reaction or something like that, he prescribed a Cream with Antibiotics (which made the cyst disappear within more than a week) The examination took only about 30 seconds and I didn't need to strip off. While Dr was writing the prescription, Arturo suddenly showed up and joined us behind the screen. When he saw me with all my clothes on he looked surprised and asked "did the examination already finished?! Did Dr check the issue?" (with a disappointment expression on his face) I replied "yes, everything is ok" (and gave no further details) the Dr handed me the Prescription and the 3 of us went back where my mom and the other Nurse remained awaiting at the beginning of the corridor near the Entrance Door.. We thanked the Dr, said goodbye to Arturo, the other Nurse and we left. Only a few days after I realized that Arturo kinda wanted to caught me pants down or naked lying on the table when he got behind that screen, that's why he got surprised when he saw me there standing and fully dressed. I never suspected about his intentions back then, otherwise I could have made up an excuse to ask, for additional examination, in that case the Dr would had be forced to ask Arturo for a couple of Gloves, he'd get and, bring them to the Dr and undoubtedly he would have stay there to watch the whole thing. Sad I was too naive to realize. Missed opportunity!