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Avoiding unnecessary touches from doctors

I'm currently in my late twenties, I have an illness that requires me to go to see various doctors and paramedical practitioners. Over the last 12 months, I went to 7 differents doctors/practitioners, 3 of them were males and among the females, 3 of them have made an 'unecessary physical contact'.

It range from a hand placed on my bicep or my inner thigh while looking at my face to 'hand play' with my stomach.

I'm very sensitive when I'm touched, so it requires me to be very concentrated when I'm auscultated/manipulated, so it may be an usual thing or a thing I overreact on.

Is there a way to avoid/break these situations without creating an awkward ambience?