Sadly condoms make many guys go soft because they take away some of the sensation and pleasure from sex. So you should not feel ashamed or embarrassed about that. Try different types of condoms some types are less likely to cause loss of sensation and pleasure. If that does not work you can go on PrEP while that will not protect you against other STI's it will protect you against HIV. Ultimately it comes down to what level of risk you feel comfortable with.