Same. I've been to multiple doctors, and each time, the "privacy policy" (either a HIPAA form or something similar) was included on the paper I was signing.
That's not to say Stallman's experience did not happen, but it is certainly not the norm.
That small brochure was only a subset of their privacy policy. The actual policy could not possible fit onto a brochure and as the OP said the form he was signing had a summary of the policy which is similar to your brochure.
Every time I've visited my hospital for something, the privacy policy was printed on a small brochure and handed to me along with the signature form.