A few years back I signed up for HAP health insurance. I had to wait 5 months to see the PCP I was assigned to. After waiting 5 months, when I went for my appointment, this doctor, and I use the term loosely, didn't even touch me. All he did was sit in front of a computer, and asked me questions. The BP, temp, etc., was done by the nurse.
A few months later I developed a severe sinus infection. I was not about to wait 5 months to get it treated, so I went to an urgent care clinic near my home. I was called in, and the doctor gave me a prescription for antibiotics, and then said he would like to do a head-to-toe exam, since it was my first time there. At first I was so shocked that I told him "maybe some other time". Then I realized that there was no reason to refuse. He ended up giving me a complete exam, including genital, and my first ever prostate exam.
I was so impressed with his thoroughness and true concern for his patients, I decided that, when I needed to see a doctor, he would be my man.
I have been going to him every 3 months (for high blood pressure prescription). I respect him more than I have ever respected any other doctor. Incidentally, I do NOT receive complete physicals every time I go there, but he still checks a lot of things most doctors don't, such as circulation, having me remove my shoes and socks and feeling the feet.
My co-pay is a little higher than if I would see my assigned PCP, but, trust me, it is well worth it to have a doctor who pays attention and listens to you.
Good luck, my friend. And I DO understand your fear. I, too, have the same fear. But usually, after the exam is over, I ask myself what there was to be afraid of.