Not sure if this will help or not...but it did help me a little, and I'm terrified of doctors and hate, hate, hate being touched.

Ask to meet with your doctor in their office before going in to the exam room. In the office, tell them you're scared and uncomfortable with being touched. If you can't say it, write it in a note and give them the note. Ask your doctor if, during the exam, they would please talk to you, tell you everything that they are doing, and remind you to keep breathing.

It doesn't make the exam any more pleasant, but I've found that if I can be reminded to keep breathing, and if I know what the doctor is doing before they do it, it's a little more tolerable.