A 3-year-old boy from rural Maharashtra presents with progressive developmental delay, hepatosplenomegaly, and recurrent respiratory infections over the past 18 months. On examination, he has coarse facial features, corneal clouding, and a palpable spleen 4 cm below the costal margin. Bone marrow aspirate shows foamy macrophages. Urine shows elevated heparan sulfate and dermatan sulfate. Which of the following lysosomal storage disorders is most likely?