
You do have phimosis. This is easily solved with circumcision (the most effective method). You can try those stretching exercises or wait until you’ve turned 18 but if you want it solved immediately, circumcision is the answer.
So to start on this one: " when cleaning under my foreskin, it hurts when I touch it. Is this normal or will it hurt less the more I touch this. Could this be connected to not being able to retract my foreskin? " - so yes, the area has been hidden under your foreskin while it has been developing for the first 16 years of your life. And, the more the head of your penis is exposed and becomes used to being washed it will become less sensitive. And further yes, it is connected to the lack of retraction that your head of penis has experienced so far - not that this is anything unusual.
Brief note: your penis will continue to develop naturally until you are around 26 YOA - at this time most adult penises are as they will be for the rest of the life. However, most young men can expose the entirety of the head of the penis by 18 to 19 YOA.
Never even consider circumcision - the vast majority of penises and foreskins will develop naturally in time, or simply, the foreskin may need a little help in developing sufficient elasticity and suppleness.
So stretches can certainly help - check out this web site by doing your own search:
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- Wiki - How - 3 Ways to Do - Phimosis - Stretching
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