Condoms can reduce sensitivity, but I don’t understand the hate. Is sex for some people some kind of race to see who can cum first? Try taking your time and enjoy it.
If you can’t cum with a condom on, maybe the problem isn’t the condom? Get your blood pressure checked. One of the first things I noticed when I started having issue with high blood pressure, was that the extra BP created a bit of extra “hardness”, but also reduced my sensitivity.