I have lost sensation in my penis - and long to orgasm with a partner

There is way more to sex than a race to orgasm. You are smart and self-aware sexually, but you are failing to truly experience pleasure because you are now (understandably) goal-oriented and fearful. Many people subscribe to the idea there should be one particular pattern to lovemaking – usually the one that starts with a bit of “foreplay” and proceeds to the “main event” of orgasm. Stop thinking like this. Instead, focus on pure pleasure rather than on achieving a climax. Consider the possibility that foreplay is overall a more erotic and pleasurable main event and that orgasmic ecstasy is a very brief, not altogether necessary, exclamation mark at the end. An enormous amount of prolonged pleasure awaits you and your partner if you can approach sexual encounters in this way and be honest about what works for you and what doesn’t.