I would not worry about the undressing if your husband was present.I think old style doctors think that is part of what they do to maintain their image. If your husband cannot be present ask for a nurse- chaperon.Having said that, my husband had a full examination with a private consultant to diagnose his Parkinsons and only undressed to his shirt and trousers.
What makes me mad is that more conditiond are not included in the list of conditions that a doctor has to certify you as fit to drive.I can think of two neighbour and a friend who should not drive but their conditions are not on the list.