I went 6 years ago for my first one. But it was very basic and no "intrusion" - really just looking and feeling my breasts.
Now I need to schedule a "proper" exam, after 5 or 6 years of being sexually active and not having had an exam in that time period, and actually never having had a proper exam anyway.
Maybe I need to discuss this with my T too - but we have never really discussed anything of a vaguely sexual nature - especially as I don't have a history of sexual abuse.

I can understand your concerns, but try take as much as you can from the advice given above