What helped me alot is first getting scraping tf out of my skin with my loofa then making my leg skin really warm, then finally using gel shaving cream that turns slightly into fluffy shaving cream. I also using a razor made for sensitive skin, and i also use Johnson and Johnson baby body wash for my body, it helps a lot with itchy skin, i highly recommend using that body wash
i am also sure to let it breath afterwards. tight closes and movement (walking a lot, working out, cleaning, etc) can cause bacteria to grow and pores to clog and lead to irritation. i wear loose boxers around afterwards and be sure air flow gets through there. it sounds funny but literally leave your legs open.