Daily shaving, genital safe hair removal cream, waxing, laser (either home or professional).
None of these methods are permanent. Some last longer than others, produce less irritation, or smoother result, or blend of positive outcomes. Your skin tone and body hair type comes into play with laser treatment, particularly for those with very fair skin.
I shave daily, have been doing so for decades. I've also used all these methods at one time or another, and still do so when I need a specific outcome (like a completely smooth scrotum and taint, with no evidence of stubble or remnant/missed hair).