Can sexual compatibility get better over time between people?

Hi, i'm 29, I'd got a problem, The issue at hand is about intimacy between me and my partner, we'd had a talk and she told me how I'd struggle to get them to their peak? And how they've been faking enjoying sex with me For awhile and how I'm awful in bed? Because my lower body doesn't move effortlessly, I've got mild cerebral palsy So it's makes my muscles stiff and tight and my muscle tone goes between to tight to loose real fast I've done kagals which has helped abit, and they said that I go down on them too often? And don't give enough penis? I take Bipolar meds which gives me mild ED as a result I've changed my meds four times to fix this issue, It's gotten better than it was before thanks to wellbutrin, Alongside my mood stabilizer, which is why I'd use my oral skills to overcome the mild ED, but I guess I do it too often? They rather me get them off through mostly PiV, than mostly oral They also don't like how they have to tell me they're horny? And wishes I'd instinctively knew they were horny? Without them having to spell it out for me all the time, i struggle with understanding non-verbal clues, I've taken ED pills, They have worked abit then I get use to a particular one, and it stopped working I've told them how'd my meds give me mild ED, or that I'm nervous, They see it as me making excuses? Because I say more of then not, I've cried to them and said I'm sorry, and that I'm trying very hard to get horny and stay horny, apparently trying isn't good enough in their eye's and it's either u do or you don't to them They're the type that can many rounds throughout the day, I'd go one round, maybe two? 3 on a good day, It's takes me forever to recharge my penis, have a slow reset period We've been talking about finding a middle ground with this issue, She told me how she loves me and care about me, Wants us to work together get this issue sorted out before she runs out of patience Can sexual gaps be fixed between two people? Or is it a lost cause? I've gotten my T levels checked