We Have Been Married For 5 Years. I Am 36

We have been married for 5 years. I am 36 and she is 31. I have been doing hand ob for 15 years.
Whenever we do intercourse I am not able release sperm without doing hand job.
Usually after she started to having gel inside her vagina (we play foreplay until she gets gel), I apply KY Ultra gel on my penis , do hand job for sometime , insert my penis to her Vagina and release sperm. I know we have tough time during this level.
So I never release sperm naturally.
She is having PCOS issue and for that she is taking medication.
Also
I am not having enough pleasure to release Sperm naturally.
we are having same kind of foreplay which we are getting bored now a days.
She is not willing to explore little more.
whenever she is not having pleasure , she is frustrating , showing her anger on her face by seeing that my interest is gone.

So how do I ejaculate sperm by doing intercourse naturally not by hand-job.?