My first time wearing panties to the doctor was not intentional. I put on panties to go to work, as I was starting to do more often. That day I forgot what I was wearing.
I had bronchitis and needed antibiotics and a steroid shot. When the nurse came with the injection was when I remembered I was wearing coral Hanes nylon hi cut briefs. The nurse said nothing. She either saw or she didn't.
But because she said nothing I knew it was okay to wear panties to the doctor. That was a big step to me wearing panties every day.
Now, I usually wear a bra to the doctor, too. My annual physical is coming up. I'm curious to see if she asks about bra straps.