I've never been told to take off all my clothes during a physical. Never.
During my induction physical in 1969 I was told to strip down to my skivvies by a corpsman (medic). Didn't think anything of it because the several hundred other 18 year-olds did the same thing.
During each reenlistment physical and for my final discharge physical before retiring, no one told me to strip so I didn't. I was told to drop my drawers for the DRE (Digital Rectal Exam better known as the finger wave), but that's it.
During my pre-employment physical for work in a steel mill no clothes were requested to be removed. 'cept my shoes when they checked my height and weight.
For a couple decades, civilian doctors did the finger wave, so I had to drop my trousers and skivvies, but even that practice has been dropped. My last physical - two weeks ago -(and all of 'em in the last decade or so) there has been no DRE, no requests to disrobe unless my shirt or jacket interferers with the sphygmomanometer, in which case I roll up my sleeve or take off my jacket.
Nurse/aid asks a series of questions to satisfy Medicare, the doc comes in and asks more questions about how I view my health, then I remove shoes and socks so they can check them for diabetic neuropathy. Still doing great.