After years of “annual physical exams” by a young male MD who only asked questions (no auscultation, palpating, etc.), my last physical was conducted by a much older male doctor who, five minutes into the procedure, told me, “Take off your clothes."
I started to strip, but I was so surprised that, while doing so, I asked, “Everything?”
He said, "You can keep your underwear on for now.”
He performed a very lengthy and thorough exam, including a lot of palpating of my abdomen while I was on my back. This included his fingers going inside my underwear to palpate my lower belly, well into my pubic hair. If I had followed his initial instructions, I would have been completely naked through the whole procedure.
While I was still on my back, he examined my penis and scrotum by touch, cupping and rolling them with his hand inside my underwear.
He actually didn't strip down my underwear until it was time for the digital rectal exam, with me bent over the table. No shirt, so at that point I was completely bare.