Fear of Doctors Exam

I am a 40 male and I have developed an irrational fear of being seen by any person within the medical industry. Each year I go to my physical (mandatory for work) my hear rate and pulse jump to levels that cause alarm.
When I was a child (late 70's- early 80's) I remember going in for physicals and a random nurse would stick her head in the exam room and say "strip to your underwear" and walk out. A short time later another strange nurse would enter the room and begin the exam. The worst part off all my physicals was when the nurses would sit in front of me an just pull down my underwear and grab my testicles. When they were done I would just stand there with my underwear around my ankles frozen with fear.

In middle school and high school the physicals were often done in school or in a group. It was not uncommon for random women to walk in an out of the locker rooms, etc while being examined. This type of experience was often done while I was in the military and now I am petrified about going the to doctor. I have expressed my feelings to multiple health professional's (mostly women) and there response is "I am a professional and you have no reason to be nervous" which often makes my anxiety worse.

I need advice please.