I'd be extremely concerned... ...that I had leprosy.
So you couldn't feel her pubic bone against yours?
You couldn't feel your testicles touching anything?
The feel of a naturally lubricated vagina of an aroused woman around the penis of a man, especially one wearing a condom, is very different to that of a dry hand around a penis with no condom. Just because it's different, more gentle and more subtle, doesn't mean to say there's no feeling at all.