I'll echo this with no hesitation.
I was diagnosed 6 months ago with early stage PC.
I had zero symptoms and still don't.
I only asked for the psa test as an add on to a routine blood test because my dad also had PC.
Yes, the examination can be embarrassing but don't let that put you off getting tested and examined if there is any history in your family. They don't advertise it but if you have a family history you are actually entitled to a psa test. The physical examination is actually a much better indication of the disease than the psa test. But once you are diagnosed regular psa test levels are more indicative.