I must be missing something. Pardon my ignorance, but why would a doctor need to go anywhere near your penis unless you go them with a specific complaint about it? I'm having some strange (but humorous) visions of going to a doctor for a sore throat but being forced to drop your trousers and retract your foreskin. Does. Not. Make. Sense.
The fact is that a dick will not even sit up or show its hea when a Doc examines your penis. I once went up to a doc and he just asked me to pull my foreskin but my dick hardly sat up and it was very small when it was exposed to a doc.
It's called a "physical examination" and involves the doctor examining all the major systems of your body, including the reproductive system, to assess their health. I'd be pretty concerned if I went to a doctor who did not, for example, annually examine my breasts or cervix, or refer me to a doctor who would. Yes, a doctor is supposed to check your penis for signs of illness during a physical.
I see. Must be a "feature" of those healthcare systems where the doctors try to extract every last penny from you. Women don't have annual breast or cervix checks in these parts. Nor do men have there penises examined on a regular basis. The rare occasions I have been examined there has been traumatic and humiliating enough that I certainly wouldn't be letting any doctor near unless I suspect there was a genuine health concern.
protip: announcing that showing your penis was humiliating could lead to unflattering assumptions about your size.
Do I care what assumptions people whom I don't know and will never meet choose to make? Of course not. Trust me, it is just not very dignified having to undergo such an inspection.