So sorry your doctor lost his mind on you!
Your baby sounds perfectly clean to me, but I think most American babies are way 'overwashed' anyhow and smell more like perfumes and chemicals than real babies.
We always put our babies in the tub once or twice a week at the most--usually with one of us, and only in clear water until they were old enough to insist on anything else.
Same thing with diaper-time.
We rinsed them in the sink with clear water after a bowel movement, and again thoroughly before we put them in a 'night diaper.'
Now, at 2 & 5, they do want to use bubblebath, etc. but I really limit this to once a week and only use pure olive oil soap otherwise.
No antibacterial soap in this house!
Were I you, I'd stop checking his foreskin and just leave him alone.
What you are doing currently re. washing is just fine.
If in doubt, just sit him in the tub in clear water and he will naturally clean himself as much or as little as necessary.
As far as I'm concerned, all this business of wanting little boys to clean their foreskins makes as much sense as saying little grls should douche regularly.
A good, clear-water soak once or twice a week is plenty.
For the record, my intact husband only washes with clear water.
Sensitive skin is sensitive skin!
Everytime we see our pediatrician or the nurse, I tell them before the diaper even comes off, "He is intact and we do not want you to retract his foreskin in any way."
If questioned, I just repeat my mantra.
If they know, they won't take offense at all, and if they don't, they get a clear message on what we expect.
Our favorite nurse always said, "Oh, I don't need to check his penis at all--just his testicles," but hasn't even needed to do that since he was about one.