I think I've been fortunate in that I've been relatively healthy while I've been at medical appointments, and participating in studies. Even when I've been in the hospital, and had surgery it's been minor condition and I've not had a lot weighing on my mind. I think it could be quite different if I were given concerning news about my health.
So far, I've been able to enjoy my medical appointments. If I'm told to undress, I take everything off, and put on just the gown, unless specifically told to leave something on. I've asked to have something looked at which would require undressing, if it seemed they weren't going to have me undress or not much. I let them do the exam as they normally will, but might ask them to look at something, in particular, if I feel they're not being thorough, (or invasive,) enough. Usually, if I suggest something like that, they'll say, "Well, let's take a better look at things," and do a more complete exam.
I don't pretend that the doctors or nurses are checking me out, like the original poster did. That's all bullshit, and I think pretty immature, it cheapens the Medfet.
What I'm getting out of it is mostly in my own mind, not an outwardly physical thing.