My boyfriend can't feel anything with a condom on

My partner (both in our early 20s) and I have been together for about 7 months. We were both virgins when we met, and we still haven't completely gone all the way. Why? Maybe it's the mutual fear of the first time, but the sexual attraction is definitely there. He does get hard and has been very close to coming several times, so there is no way he is not attracted to me. We always have very intense make-out sessions, but we've never really had sex. He has taken out condoms a couple of times. Then it takes so long to fuss that the sexiness seems to be gone. This has probably only happened twice. The last time we were so close. He took a condom, put it on, okay it took a bit of a long time, but okay. He was already on top of me, but he just couldn't put it in. Supposedly, you can't feel anything through the condom, you don't even know when it's getting hard. Is it really possible? He says that he can't feel his penis when he's wearing a condom and it doesn't matter if he's rubbing against a blanket or a person. Sounds a bit like a bad excuse, but maybe it's just my insecurities thinking that. The pull-out method seems too risky and I'm a bit wary of pills myself. But if condoms really don't work, there must be some other solution. What would you do in my situation?