Did he actually say that you should telepathically be able to tell when your baby was crying if you were out of the house? Did he really mean it? Or were you out for longer than either of you expected (e.g. "my appointment is at 10, I'll be back by quarter to 11" when you didn't get into the dr until 11.20 - as at my surgery!) and he was just feeling stressed out/worried/harangued with a crying baby he couldn't settle and just said, "but didn't you know he'd be crying?!" And might have realised it was completely unreasonable after the fact?
You should be wiping/washing your baby's face in the morning. Just as you would wash your own. Water and a face cloth/cotton wool will do, but it's important to establish these norms.
It's fine to have different parenting styles. My exh and I both do things that grate on the other. But, in most things, neither of us are 'right'. It's more just that we do things differently and we, obviously, think our own way is the right way, which is why we do it like that.
I'm reluctant to just jump on the "he's in the wrong" by virtue of the fact he's a man and you're a woman and start calling him 'unhinged'.
Having a baby is hard. He might have really taken on board the 'milestones' messages and not realise that babies/children just develop these naturally in many cases. He might be worried about the baby not making the 'progress' he should.
I know that with my first, I was very conscious about 'milestones'. But I was young and worried other people would think I was a bad mother if my son didn't reach his milestones. By the time the second one came along, I didn't care one hoot.