Some men are able to make peace with the fact that this is just how their body works. When they’re in a relationship, they let their partner know that too. Other men choose to seek medical treatment. A urologist may be the kind of doctor most likely to be familiar with ways of treating this issue.
I am a sexually active, heterosexual male in a monogamous relationship. Recently, at or near climax during vaginal sex my condom slipped off completely. I didn’t know this until I reached to hold onto it as I withdrew. My girlfriend hadn’t felt it either. It was difficult to retrieve and went near her cervix.