They do ask about past abuse but i think if you voice your discomfort then they'll respect that.
My first gynecology visit was a great experience. I hate being touched and talking but the doctor made me feel very comfortable and joked around to ease my discomfort.
I've had a better experience there than seeing my primary care person.

I don't think they would mind you bringing your teddy bear at all. Bring whatever you need to make yourself feel comfortable.

I hope I was of help. I've only been once and I was incredibly uncomfortable.

It'll be ok