When I reached the age (50s) when regular colonoscopies are recommended, I explained to the GI doctor why I was especially anxious about someone going up my down staircase. I said I wasn't "embarrassed" by the thought of the procedure, it was fear of flashbacks, irritable bowel, etc., due to CSA. I got the impression he'd heard this kind of thing before. He suggested general anesthesia (rather than just the valium or whatever they usually bliss you out on for the exam) and talked my insurance into covering the extra cost.
OTOH, I've had some experiences with doctors (in various contexts, not just CSA-related) who seemed to enjoy humiliating me--sometimes in the presence of their staffers. Maybe those ethics courses aren't terribly consistent throughout the medical profession!