The doctor was out of line asking you to disrobe, it was completely unnecessary. One possibility, the one that comes most readily to mind, is that he had the authority to ask you, and enjoyed using it and seeing you in your undies. Another possibility is that he asked you to disrobe from habit, without thinking, and then feeling too silly, having asked you, he let you stay undressed rather than correct himself.

I gave up driving, with deep regret. It's too stressful to maneuver in traffic.

birte