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ED how to make penis feel sensations

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So ever since i've been sexually active a year ago I have ED. Today i finally tried to maybe address it and kept my hand in one position and tried to hump it, i went semi soft just like sex. Yet when i masturbate normally i can stay hard cause i know how to make my penis feel the sensations, but when humping it doesnt feel as good. I think this is the same problem as with sex how do i fix this?
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