How do you guys manage the dirty bellies and sensitive skin?

I love my boy to death, but being a low-rider means his belly is basically a broom that sweeps up every piece of dirt, wet grass, and mud on our walks. Since I'm pretty big on hygiene, I always meticulously wipe down his paws and belly after every single walk. I finally found a gentle paw cleanser that works great, but his belly skin is still so sensitive! Sometimes it gets a little red and irritated just from brushing against the grass or the pavement. I’m curious about your post-walk routines!!!!