I've been on both sides of this, as a caretaker, and also as a patient. I've bathed both men and women, and it is important to be attentive to the patient's comfort with what you're ding, while also still being thorough in cleaning them. I usually would give the washcloth or sponge to them if they were able, and direct them to spots they missed or needed to wash better. Sometimes it did involve just doing all the washing myself, and it was always best to just move along and do things as they need to be done, and the patient usually just is OK with it. Only times there was an objection was when a husband would not want a man bathing his wife, (the wife couldn't have cared less.) I did, however have more than one female come on to me afterwards. One 90 year old gal, who had led a quite interesting life, internationally, seemed to take the undressing and bathing as a sort of foreplay. But, I was able to politely divert her back into some clothing, and then she settled down. I thought it was wonderful that this widow still had it in her to hit on a guy 60 years younger, while she's standing naked in front of him!
As a patient, I've only been given a bed bath by a female nurse, who was very thorough, but careful with my very sensitive skin areas. She gave me the washcloth, at the end, to do under my shorts. I've had a number of times when I was standing, either at a sink or next to my bed, and a nurse or assistant came in. Some of them quickly said they would come back when I was finished, but one needed to give me a shot in my backside, and asked if she could do that, which I was fine with. I felt much better standing there, naked, getting the shot, than I did with those others who seemed awkward and went away quickly. When I'm a patient, I expect to be seen in whatever state of undress by whoever needs to see me. If they are professional, it isn't a problem, and I'd rather they just do whatever needs to be done. Otherwise, it may be a while before they can get back to you.