My stepdaughter learned to wipe as she was getting toilet trained (the day care provider reinforced this, too--to graduate to the preschool room, kids had to be toileting, including wiping, independently). So, by 3, she was doing a decent enough job to not end up with rashes. She had a bath at night to take care of any lingering issues.
One thing that helped in the "could" versus "did" department, besides the preschool which didn't help the kids unless there was an accident, was just not doing it anymore. We'd check but we wouldn't do a follow-up wipe--"oh, you need one more." (I'm glad she wasn't going through the big NO!/"my seat belt buckle is too cold so I'm not gonna buckle"/helplessness phase she is right now.)
She did have long arms and no sensory issues, though, so this was probably an easier transition than many.