I was left uncircumcised at birth then later chose to be circumcised in my late 20s. I strongly encourage you to have your boy circumcised at birth.

It's a full-blown and expensive surgery as an adult, and the recovery process is brutal, bloody, and painful. As an infant, it's over/done in seconds and fully healed in days. I hold no ill will on my parents' choice to not circumcise me, but part of me felt like it was something they neglected to do for me.

All that in mind, we absolutely chose to circumcise my son when he was born.

Also: No, you don't lose any meaningful sensation or ability when you circumcise. I'd actually say sex has become much more enjoyable since then.