When you go to the chiropractor do you have to be naked?

No. Chiropractors need you to be relaxed and they'll do almost anything to get you to that state. Otherwise their work is for nothing.

Your shirt will only come off if you want to and everything else stays on. Also, if you're a minor, you can bring in your parents if you want.

If you're worried, check out some videos by chiropractors on YouTube to see how a visit actually works. You'll see there's nothing to be scared of.