It was no big deal when I had mine.
They give you a bit of sedation, and it’s not undignified as you are lying on your side with your knees bent, and covered up. The doctor is looking at the screen, so nobody is looking at your parts!
I enjoyed watching the screen, as I found it fascinating! They may take little biopsies as they go round, but you won’t feel it. It was a little uncomfortable as they went round the bend of the colon, but if you tell them if it hurts at all, they will stop. I have had some colonoscopies where I felt literally nothing. The benefits completely outweigh any slight discomfort you may feel. It’s all over in a flash. But do take the sedation, as it makes the whole thing so much easier