Is it true that the word "Tafsir" (exegesis) is incorrect for the Qur'an and that the titles of Sheikh Al-Sha'rawi's books were changed because of this?

We are not aware of any text from a reputable scholar that disproves the word "Tafsir" (exegesis) or prohibits its use. The fact that it is mentioned in the titles of books of Tafsir among the Salaf (pious predecessors) and that the Hadith scholars have a dedicated "Book of Tafsir" in their Hadith collections indicates that there is no harm in using it.