And seriously, if the friction is the only thing that make you enjoy sex, and not with whom you have sex with, you seriously should reconsider your relationship.

Why would you choose to do anything for fun that isn’t mutually enjoyable? You can enjoy both your partner’s company and also the activity you do together at the same time. It’s not one or the other. Don’t like condomed sex? Then don’t do it. There’s more to a romantic relationship than sex.