As a guy who was circumsized at 16 (who will definitely delete this comment), the necessity of lubrication for stimulation shows why it's kind of against the 'design' (teleological language, etc.) of the penis to remove its foreskin, as the latter reduces friction by stretching and rolling as glans passes through it and allows lubrication. One possible reason to remove it might be that during development retraction of foreskin might become difficult or painful as it might be like a too-tight turtle neck. I think you're correct that it's an issue where the infant can't consent to it, so unless there's a medical need to do so before he reaches some age at which he is deemed capable of deciding himself, it shouldn't happen.