I've been an Endo RN for 15 years and the only MDs who have ever asked the scope be inserted for them are the surgeons who occasionally do scopes in Endoscopy. I refuse to do it and advise those on my teams not to do it either. It is not my responsibility, I've never been trained to do it, and if something were to happen to the pt I'd be in court right with the MD.
If there is no policy on something and I'm unsure I often contact Risk Management and Safety to discuss. They usually have good insight. Good luck in Endo