Fresh Skivvies if possible, but if its after work, I just go in those.
My skivvies usually stay clean all day.
I want to feel comfortable showing them off, as well as make him comfortable knowing I'm clean.
I can't imagine examining a patient with racing stripes - UGH! I'd send his dirty ass home.
I have only had to drop my drawers once at my regular docs office for a prostate exam.
My Urologist obviously looks, but like others have said...they see it all.
As long as your clean, or clean smelling, and your underwear is clean of some sort - I would think you are fine.