Every time I bathed, my mother washed my penis with soap and retracted my foreskin to clean underneath. She pulled it back as far as it would go.
Then she pulled it back again to dry it thoroughly. I was told it was important that it was dry. When I was old enough to do it myself, I did it under my mother's supervision, but after that, she stopped watching.
What I couldn't avoid, however, was my father's examination after every bath, after I had dried myself and before I got dressed.
First, my testicles were felt (and pinched, why, exactly?) to check that they weren't retracting and that they were in place. From time to time, my penis was moved up and down and from side to side to check its mobility.
Then he finished his examination by retracting the foreskin with two fingers. The foreskin was always pulled back as far as it would go and held in that position, which seemed excessively long to me. Then it was replaced over the glans. He explained to me that the foreskin should be retracted, but also returned to its original position painlessly.
Since I occasionally had erections, it was important to check again that the foreskin retracted properly in this state.
At 10 or 11 years old, I was told I was now old enough and could do it all myself.
My father only checked it once more when I was about 12, and never again after that. And yes, I became embarrassed about it.
During puberty? No examinations, but I was always told that it was very important to report anything that bothered me or if something was wrong.
In my opinion, this topic of conversation is related to that one: https://en.zity.biz/index.php?mx=forum;ox=display;msg=1467150