I don't think so. I'm not circumcised and I know that feeling your talking about when your tip rubs up against something it feels very unconferble. I can't really help here but what I would recommend would be see other doctors about this. Just because one says its fine doesn't mean other doctors will to. Also sorry for my bad English I'm sweedish :)
Hi Fighter, Look for foreskin reaugmentation, it can be done, you will find some info if you google altpenis, and if you google foreskin reaugmentation.
Good Luck
I'm circumcised and I do feel the head of my penis rubbing on my clothes. Frankly, I like the feeling. As you get older the sensitivity will diminish. As for the peeing can you be more specific?