I'm not a Doctor, hell I don't even play one on TV but here are my .02
The human mind is the greatest sexual tool we have but it seems like you are setting yourself up to fail.
The more you think about it the worse it will be.
I know this advice will sound incredibly easy and be incredibly difficult but quit thinking so much!
Don't worry about getting hard, don't worry about how long you last, don't worry about the penetration, just be there and be in the moment.
If you can get hard enough to jerk off you can get hard enough to have sex, but the more you worry about failing, the more you will.
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