Heh, it only gets easier when you get REALLY old. Like, after menopause.
As long as you're fertile, it's going to be tough.
Btw, are condoms REALLY that big of a deal? I mean, I can understand if they cause yeast infections and other physiological reactions... but otherwise, we find them pretty handy and hardly think about them when we use them (and we're married and on BC!).