Use 'disrobe' when privacy or seclusion is normal, such as changing rooms or doctor's visits.

Privacy Expected

'Disrobe' is more formal and less common than 'undress'; it's often used in legal or formal texts.

Formal Context

Mention 'disrobe' before events that require no clothes, like swimming or medical procedures.

Preceding Events

 What about people with disabilities or who need assistance in there? What about folks with bodies who, for whatever reason, don't fit into the mainstream idea of what a body should look like? How many of us still feel shy or afraid to disrobe in front of our peers,

Why we need gender-neutra...

 top of that disrobing and allowing touch I would submit to you that that is a ritual of exceeding importance and if you shortchange that ritual by not undressing the patient by listening with your stethoscope on top of the night