They don't poke and prod you constantly (thankfully!). There is the initial work up, but after that you go the rest of your pregnancy poke free ;)
in the end (delivery), you really don't care since you mostly just want that baby out of you and, honestly, I cannot remember anything traumatic about my deliveries that I wouldn't relive again for my kids.
At most of your doctor's visits, they will only weigh you in and measure your belly, take your blood pressure and listen for baby's heartbeat. No worries.
During exams and pap tests would be a good time to practice relaxation breathing (you'll need it for labor & delivery).