I use a mesh poof, which I am confident is leading to the downfall of the environment and probably needs to be machine washed regularly, and shower gel/liquid soap. Bar soap makes more soap scum on our glass shower door.
For areas that don’t seem as clean, I pay extra attention or use special soap or scrubs. I feel like deodorant can build up and not wash off so I use a tiny bit of my husbands face wash (which is a bit stronger than mine and had some chemical exfoliation) or a body scrub in my arm pits. For feet, sometimes I just do a separate pump of soap and scrub my feet well with my hands - don’t want feet germs on my shower poof. For private parts, mainly just water with the handheld sprayer with soap on the outer regions. If you feel like there are specific issues, Kaia Naturals makes some specific area soaps
https://www.kaianaturals.com/
The founder is Madame Sweat on Instagram and details best solutions for hygiene issues.