Have you ever thought about seeing a therapist for this? You need to be able to break the hold your parents' teachings have over your current sex life, which is difficult to say the very least. A therapist could help with that.

Angel gave great advice...ease your way into things, don't expect anything going in, and work your way to it. No rush...just focus on getting comfortable with yourself before working on the other stuff.

You do though need to try to ease off using your boxers...the loss of sensation is due to dermal tissue damage, which results in a loss of sensation over time. I don't think it's anything permanent, but it would be beneficial to stop with the boxers.

I am sorry that your parents' strictness have turned you away from religion as a whole. I've a few friends who're devoutly atheist due to bad experiences with the church, and it's unfortunate something that's supposed to be beneficial becomes in some cases such a detriment.

I wish you the best of luck in overcoming this, and I hope things work out for the best.

Hugs,
Harley