Normally it’s advertised as a men’s health clinic, one of the specific ones near me is Mantality (unsure on spelling) and Victory Men’s Health, I only remember them because they advertise heavily here. There’s probably better options but searching for men’s health clinics will probably get you where you want. Some of them are only peddling ED pills so a bit of research is needed to find a place with a real doctor performing real medicine instead of slinging Alex Jones pills
Just because their parents are bad parents doesn’t mean there are regulations and restrictions… at the end of the day parents need to parent and so many are unwilling to do so.
I will mention I have no problem with nude beaches or public toplessness of both genders, religious prudishness has no place in the modern world