It is a problem I had for a while. I masturbate a lot like once to twice every day. I have my foreskin intact but I never used lube and now my penis he's looks wrinkled and it is desentizised. I only get a good feeling when in about to orgasm but I feel nothing while I'm masturbating
I would try some lube out. As far as the rest, I was circumcised at age 6. So, I have limited knowledge on how to handle uncut dryness. Definitely make sure to wash back there if you can. If you don't wash, it can lead to an infection.
Get properly aroused, be patient, and don't force it. Sex is not only physical but also mental, so getting into the mood is also important.
I would suggest some type of lube. Your saliva would work good to. I have experienced irritation from doing it to hard or to long before on my glans. Relax and be gentle.