I think that YANBU to find this uncomfortable. My brother was braindead (God, that's hard to type), yet every single doctor and nurse in ITU spoke to him and told him what they were going to be doing first.
It's up to you whether you contact PALS and emphasise that this was great doctor, you feel that it would benefit staff to have training in Complex PTSD and to consider offering chaperones in same sex examinations.
Something you could potentially do is, as people do with allergies, etc, make a card to carry in your wallet saying something along the lines of
'I have a diagnosis of Complex Post Traumatic Stress Disorder.
If I require medical treatment or examination, I need a chaperone present during examinations, irrespective of the gender of the Health Care Professional.
I may not feel able to ask for this at the time, but please provide a chaperone on all occasions'.
That way, if you're conscious, you can hand them the card to read, and if you're not, the chances are that they are going to be looking through your wallet to find your ID anyway, so will see it.
I don't know whether that would help you, but it might, as it frees you from the initial expectation to speak about it?