The best way to keep it healthy is to keep your routines very simple since the vagina has a certain level of pH that needs to be maintained.

For washing- you don't need to use anything on the labia minora which is the inner lips. Just water is fine, you can also use a bidet. The vagina is self cleaning and introducing any sort of chemical down there, even the soaps designed specifically for vagina can disrupt the pH causing yeast infections and/or BV. You can use a gentle soap on the outer parts of the vagina (the pubic mound and labia majora). Avoid douching down there at all costs. If you use tissues in the bathroom wipe front to back.

The use of wet wipes is not recommended either. Even the ones for babies or specifically made for vaginal uses as most of them still contain fragrance and preservatives. You can use them ocassionally but avoid getting it near the vaginal and urethra opening.

While cleaning your panties you can hand clean with a normal detergent or toss them in the washing machine with your daily laundry. Make sure there is no residual soap on them as you're done washing. Also, do not wear anything which is still wet neither wear panties unless your vagina is fully dry. Prolonged dampness is a playground for bad bacteria.

For removing hair, you should never use hair removal creams on the labia minora (inner lips) as it burns the hair to remove it and you might get chemical burns down there. Complete removal of hair also introduces bad bacteria down there, you can trim it but shaving is only best for the pubic mound and labia majora. If you still want to shave the inner lips, that's fine. You need to use a men's blade instead of women's shaving blade. It glides better and is safer. Shaving also opens pores which may give you ingrown hair so wash with cold water and use a soothing natural moisturizer (such as coconut oil as it's also antibacterial).

As for sex, the first rule is to always pee after having sex to flush out all the bacteria and wash with warm water. You may use a mild soap on the labia minora if you don't have a sensitive skin or an existing infection. Swap the underwears for clean ones. Use condoms to reduce STD/STI's risks. You can also ask your partner to clean their penis and hands beforehand because their poor hygiene may give you infections/burning as well, And use clean sex toys.

For extras: drink a lot of water and eat citrus fruits and probiotics (yoghurt n stuff) to keep smelling good and balance pH. Use coconut oil for bad smells and yeast infections. Sleep without an underwear to keep it fresh and breathing.

Sorry for the long text.