a quick witted person in Zenjirou's shoes would intervene and at least give assurance that the ones doing the checking would be female guardsman or maybe Ines... maybe with some makeshift changing cover nobles used
diplomatically that would signal that while they have to accept the body checking, their princess would not be unnecessarily humiliated... and that Zenjirou has the final word on things.
well, maybe next chap they'll do exactly this, the ending was quite open....