I have not worn underwear for about 20 years and do not own any. That means when I go to the Doctor's office I do not wear underwear. The dermatologist has no problem when I strip down for an exam. If a Dr. has a problem with my not wearing underwear that is their problem. Why would a Dr. be afraid of the body? That is their business to take care of my body. I have never had a Dr. say anything to me. They say take your pants off, you can leave your underwear off, I say, I am not wearing any, they say, then they should be not problem. That is the attitude it should be.I am never nervous or embarrassed about not wearing underwear. In fact, most of the time I never even think about it. No one has ever commented, You are not wearing underwear.
I think underwear is so restricting. I think boxer briefs/trunks/briefs look better on men but I find it to be uncomfortable, tight and hot, on the contrary, boxers are comfy but always seem to ride up and bunch up especially with jeans on. I think it's better to go all commando IMO
I own a few pairs because of a job I had a few years back. I had to change into my uniform at work in the locker room, so for the comfort of my coworkers I wore skivvies. However, i don't wear them anymore, and when I had that job, I only wore them for work. I am usually lounging around the house in just a t-shirt, and never wear skivvies with pants or shorts.