i cant finish during sex

im 20m, but growing up i never “jacked off” since i couldnt pull back my foreskin i would tug my dick inbetween my legs and squeeze, and i did this from probably 13 to now. Thats literally the only way i can cum. I can only see pull back my foreskin when im soft , when im hard it stays in place no matter what. Okay so during sex, since my tip isnt getting simulated i dont feel anything if that makes sense. Like i can still get hard but its like im a living dildo. Right now im not complaining too much because my girl still finishes. But in the future i feel like im going to have to get circumcised to have kids.