Bed grinding has set me back

for years as a teenager i grinded on my bed until ejaculation, i think it has made my meat more susceptible to ejaculation before erection and is causing erection problems, i get boners but i was just with a girl and she was grinding on me and i nutted in my drawers, i wasn’t even hard so we didn’t fuck but i did finger her until orgasm but i really wanted to fuck her, i have tried kegels in my car on the way to classes and it kept me hard for the duration of the entire ride which is about 30 mins, but it’s like i can’t access this power when i need to