I've never had my foreskin retracted as part of a regular physical, by me or the doctor (it's too tight anyways). They only ever touch my testicles.
The only times a doctor touched my penis/foreskin are when I was very young, like 6-8 years old. My mom took me to the doctor to have my penis checked out, because my foreskin was tight. I remember it only very vaguely. I remember lying on a table naked (I think my mom was in the room too), and they inspected my penis. I didn't really know what to think of it at the time, but I was nervous and scared. Thinking back, I'm glad they didn't recommend circumcision, because being that young, I don't know if I would have known what that meant, or could have stopped them from doing it. They told me to stretch my foreskin regularly until it was able to retract fully. I tried for a little while, but I gave up. My mom never checked back with me about it, and I still have a tight foreskin to this day. I don't have any problems with it at all, but it is not able to retract when soft or hard.
But, like I said, ever since I was very young, I have not even been asked about retracting my foreskin during a doctor visit.