My experience has been that the more professional I treat medical practitioners, the more likely they are to treat me professionally. Intake forms are there to give them all the relevant information to treat me effectively.
It took me a while to get used to putting 'incontinence' on medical forms. It seemed so final. But once I learned to accept it, it made sense to inform my medical providers right away. So now I always put it as one of my medical conditions.
I recently had a full body skin check at my dermatologist by a new doctor at the office where I have been going for years. Before she left the room to let me get undressed I told her that she should be aware of the fact that I have bladder issues and that I will be wearing protection during the exam. She thanked me and asked me to speak up if there was anything she should do differently to make me more comfortable.
I told her ahead of her discovering my diaper when examining me. That's the normal, courteous thing to do. And yes, it's embarrassing to me, even after all these years of dealing with my incontinence. But part of what comes with being incontinent is the responsibility to let others know before an embarrassing situation arises.