Going to try to tell this so it's family friendly ---
I grew up (since age 5) with a great lady doc. When I was a sophomore in HS, I developed a pimple in a very sensitive place. I hadn't been "exposed" but I had enough sense to visit her. I was worried as to what might happen, being 16 with rageing hormones, when she did a manual exam.
In the exam room, I described my problem. She told me to take my pants off while she stepped out. We'll skip the actual the exam part -- she had put her hands in the lab freezer for a minute or so and they were ice cold, thereby taking care of any of my concerns about an embarrassing reaction.
Seriously, don't sweat the prostate stuff. A few seconds of discomfort every year or so beats being dead. Particularly that kind of death.