Bonobos, which are regarded as our closest living relative, engage in frequent oral sex. In fact, oral sex is the bonobo equivalent of a handshake. Google “Bonobo sex” for some interesting reading.
George Schaller, in his classic The Mountain Gorilla, reports males giving stimulation to females both orally and digitally.
Orangutans also engage in oral sex.
Oral sex has also been documented in gibbons (siamangs), baboons, and macaques.
It’s a basic principle of evolutionary biology that if a trait or behavior is present in two related species it was probably also present in their common ancestor. It is more parsimonious to postulate that a trait evolved once in the ancestor, than that it disappeared and then re-evolved in one lineage. Based on this, one would conclude that oral-genital behavior evolved in not only the common ancestor of apes (including humans), but probably also in the common ancestor of apes and Old World Monkeys, if not earlier.
Given that oral sex is widespread in non-human primates including our closest relatives, and common in traditional cultures throughout the world, it would be extraordinary if the behavior died out in human ancestors due to some sudden development of aversion to smelly odors, only to re-emerge only when people started washing more. I think the default assumption should be that the behavior was continuously present rather than this more complex scenario, which is not based on any evidence.
Your skepticism that ancient humans engaged in oral sex appears to be based on your cultural biases. Both the proscription of oral sex in Western culture (although its widespread surreptitious practice) and modern fastidiousness about hygiene are cultural elements that go back only a few hundred years. To extrapolate from such recent behaviors to the behavior of humans tens of thousand of years ago isn’t warranted.