Maybe just take a step back and think it through. You don't want to cause a rift, the baby is so young. I am sure you want him in your lives and to enjoy him and watch him grow. Would it be too difficult to maybe not use any lotions or potions on the days you have him? Then after a while if they don't comment on it, you could ask your son if they still feel it necessary to wash him. If he say's yes, they are being over-picky, and that will be a sign of their exacting standards. If they say no its been fine recently, then just quietly accept it, and relax and enjoy him.
There are so many estrangement stories on here, sometimes stemming from the most trivial of issues, surely a little patience and understanding now, would save torment and upset later? Wishing you all the best.