To help you listen to each other’s feelings, you might try this “talker/listener” approach. First, one person is the “talker” and the other is the “listener.” Then you change roles.
Start your statements with “I” and keep them short. You might say something like, “I’m afraid that if we make love, I’ll get tired and have to stop.”
Then you tell your partner in your own words what you heard.
Repeat this exercise as many times as you like. Practice at least 3 times a week.