It is a subject on which there is a lot to say about. I try to answer even if I'm not in the same situation as you. That is, I'm uncircumcised, but I don't have a hypersensitive glans (anymore). In fact, besides, for example, leaving it uncovered during a shower, soaping it entirely or drying it with a towel, I could wear underwear or a bathrobe with the foreskin still retracted.
Masturbation was also mentioned in the comment. Apart from the fact that I never understand exactly what is meant by the statement "masturbating with the glans uncovered" (since some intend to masturbate with the foreskin that fully exposes the glans or remains under it, while others refer to the stimulation or direct touch of the glans), as far as I'm concerned I usually masturbate by moving the skin that remains under the glans or stimulating it directly (but only in this case with a little lubricant to facilitate the sliding of the hand).
Does this mean that my glans is insensitive? Absolutely not. When I leave my penis in my underwear with the foreskin retracted, in the first few hours what I feel is little enjoyable. Then there are some parts that, if stimulated, quickly lead me to ejaculation (especially the inner foreskin or the frenulum). Not to mention the moment of ejaculation: in that instant, and for a few seconds later, I can't touch the glans with anything. This means that in principle I have a glans that is sensitive (I feel quite the rubbing of the glans on any surface: hand, underpants, towel, sheet, pillow, etc.), but without this sensitivity becoming discomfort or worse pain. I was in the same situation as you in adolescence and now I have a "normal sensitivity".
As many have written to you, it is still something subjective that varies, for many reasons (including anatomical ones), from person to person. However, you can certainly try to reduce your hypersensitivity. How? You have to use the glans and get used to external stimuli. These stimuli are multiple: hand, water, fabrics, objects, etc. By doing so, over time, you will be able to lessen the discomfort and convert those feelings into pleasure. Touching the glans with a finger, as I do, perhaps to masturbate or simply wash it, will seem normal to you. I tend to emphasize the time factor. A satisfactory result cannot be obtained immediately or in a few days, given your current hypersensitivity: it takes more time to help the glans become familiar with new or stronger types of stimulation. Everything must be gradual to avoid pain. All this can be beneficial especially sexually speaking.