The April 15th, 2002 episode had all the contestants face the fear of public nudity, one at a time. They would walk down a runway, fashion show style. They were encouraged to show off and they couldn't cover any part of their body. This lasted for a minute then for another two minutes, they had...
The producers of the show have had the contestants eat worser things than a cockroach.
From recent memory:
Ground Pig Brains mixed with three ingredients chosen by a crap shoot, this was from the WWF Fear Factor.
Pig Bung...The tube from the rectum to the intestine...kind of elastically...