Can’t agree fully. Boars have a ‘pouch’ on the tip of his skin fold, that hides and protects his penis.Only humans are nasty enough to have smegma build up to the point it smells like rotten cheese and feet.
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Animals pretty much clean their nether regions by licking the areas. I know most humans can't bend that much. That's what arms are for.
If there's 'smegma' on the dog's dick it's probably puss from a bacterial infection. Could it also be a fungus or a yeast infection? I don't know anything about those 2. You should ask someone knowledgeable like the veterinarian.