Well this is your body and a descision that only you can make. Your body is pretty good at forgetting about the pain and if you are in pain during labour they have things for that. As for the doctor this is for the baby and is very important. Whatever you decide good luck

You should discuss with a midwife the options of homebirth with only a female midwife present - this should be possible to do so long as you don't have any serious complications during the pregnancy.
Also it is possible to keep a baggy t-shirt or similar on during labour - I will be doing so for sure, I can't imagine being naked in front of people.
I am very body conscious as I am quite large.
If you want children these things can be worked around. Labour does not mean laying on a bed with your feet in stirrups while a gaggle of doctors look up your lady bits.
In fact if you can stay upright and move during labour, gravity helps with the baby coming out, flat on your back is one of the most difficult positions to give birth in.
Good luck whatever your choice.