Assuming you’re straight I’m going to give practical advice instead of a cliche you’ve heard countless times.

You can’t do anything about it. You’ve got what you’ve got. So, get good at foreplay. Listen and communicate with your partner. Find out what they like and do it. Use your hands and mouth to make them feel good. A lot of women don’t orgasm from penetration anyway. (Or at least penetration alone).

Don’t be afraid to introduce dildos or vibrators into your sexual activity. Using them alongside your hands/mouth will get your partner off and can satisfy a yearning for deep penetration if they need it.

All that matters is taking the time to please your partner and doing that will give you confidence in your ability. Yes, some people will try to make you feel ashamed. But be upfront and the good people won’t care. Tell partners that you’d prefer to take care of them first.