Condoms reduce sensitivity just a bit so I have more staying power when on top using one...but not by a large margin. In my case, it's more psychological knowing that it's wrapped rather than feeling the intense warmth and my bottom's sensitivity when doing it raw.
It's important to know and understand your partner's wishes/desires/concerns about the risks involved. As other's here have pointed out.
Make an informed choice before going sans condom.
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5'9", 160#, S&P brown hair/blue eyes, 7" cut, 52yo, HIV neg. Mostly top but can be versatile.
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