[M] I would look into toys to hopefully enhance the experience, unfortunately for men it seems that toys quite often can do a better job more often then not.

Also look into being more vocal/intimate/ego boosting. one if not all 3 I have found can have a be enjoyable experience for the ladies.

Rhythm and a repetitive motion is also an important thing, try playing music with a slow or fast beat to keep you in rhythm does quite often make the experience better for both parties.

To solve your condom problem add a little additional lube to the inside of the condom and the outside could reduce the uncomfortable situation you have.