Sex in other positions

First post. I’ve had ED and PE issues right after marriage (29 years) and am 40 now. I was prescribed tadafil which I used for 1 year. Challenge I dont have a problem getting aroused or masturbating. Problem is I can’t use a condom (gets soft as soon as I put) nor can I do any other position apart from missionary. My partner says she loves woman on top position and I can’t see to get erect when she is on top of me or standing. My GP says it’s all on the mind and gave me tadafil which I stopped using. The only sex we have is unprotected and missionary and my partner is now bored or not motivated. Hence I am using this app. Any advise from anyone how to improve? In case it helps im not circumcised.