I'd add that you don't really know how you will feel until the time comes. And I don't mean that in a you won't care when the time comes way because I found that annoying to be told when I was pregnant and it wasn't true for me. I still cared, just some stuff I thought I wouldn't like I didn't mind but some things were still important to me. I thought about telling the MW I didn't want any internal exams during labour and I think she would have been fine with that but I decided to wait and see how I felt on the day. We only called the MW after almost 24hrs of labour. If I had been offered a vaginal exam before then I would definitely have refused. It would have felt it invasive and unnecessary. If I had had a short labour I think I may well have had no vaginal exams but when, a while after she arrived, she said she was going to check dilation I was fine about that. My husband even asked me if was okay because he knew I was sensitive about internal exams and I think he was getting ready to refuse for me. By then I didn't mind though and was interested to know what was going on. I progressed slowly and had a couple more internals but she only did it about every 4hrs. I didn't mind at all, although lying on my back during contractions was very uncomfortable. In fact I almost asked for another one at one point because because I wanted to know what was going on. The only thing I didn't like is that when you are progressing slowly knowing the dilation can be discouraging and puts more pressure on as far as time goes. I would consider not having my dilation checked next time just for that reason. Sometimes I think it can be better just to listen to what your body is telling you and do what feels right. I could feel the labour change and the pain getting lower down even when I "wasn't progressing" so I might have been happier if I had just gone with that rather than having the pressure of timing dilation.
Most women say you wont care if you are naked during labour. I did care. I knew I wanted to stay covered up. Being naked, or exposed would not have been the end of the world for me but would have felt uncomfortable and distracting which might have slowed down labour. By the end of pushing I would not have cared but that was only the last 1/2hr of a 38 labour. I purposely chose a nightgown that buttoned all the way down the front so i could open it to breastfeed or anything else needed without taking it off. If i had been in hospital I would have wanted to stay in my own nightie. When LO was born I didn't care at all about BFing in font of the MW. I did watch lots of youtube videos about latch etc because I felt being taught in person would be awkward. After the birth I was loosing a lot of blood and she was quite rough with my nipples and getting LO latched on. I realized it was to try and get my uterus to shrink q quickly without using other interventions that I didn't want so I didn't mind. By that point I was Enjoying cuddles with LO so much I didn't mind much what the MW was doing. As well as beleiving that it is better for the baby I think delayed cord clamping is great at this point because no one can take the baby off you, lol. Getting stitched was fine too as i was still having cuddles. When i got in the shower after the MW helped me and was trying to give me privacy but strangely at that point, after staying covered for the whole labour, I stripped off in front of her and wouldn't have cared in the slightest if she stayed, which she didn't.
Sorry that was so long and rambling. I thought it could help you to read in detail how someone else who was worried about this felt during labour found the whole thing. Really my point is just that some stuff you will care about during labour, some stuff you wont.
I did not do a pelvic exam at my 6 week check after birth and explained to my midwife why I wasn't going to do a PAP smear (i don't think they are needed if you are low risk and have a high false positive rate). She actually admitted she agreed with me and doesn't get them either but officially has to recommend them.