There's a few things here. Yes, women are conditioned to think about sex in a particular way (for men's pleasure) but then so are men (as a predictably sequential narrative with the goal being penetration and orgasm-through-penetration.
I think as a young man, the two lessons I assimilated about being manly in sex were (1) a real man is able to make the woman cum, and (b) the way to do this is through "stamina" - by getting to the final PiV stage and then ploughing away for as long as it took.
It took me years and experience with many different partners to work out that that's not how it is for women at all, and that the whole penetration part can often be largely irrelevant. That's not even just a question of sufficient "warm-up" though: There are women who can enjoy a full, long foreplay session up to the point where they direct it towards penetration because they feel ready - and then just get bored because penetration does nothing for them. Honestly I think some women are just wired that way, physically. It may be you're one of them.
Foreplay and timing can be an issue. It is true that sometimes we just get bored. It helps if you are really into the other person so really enjoy their pleasure vicariously. But even then there can be limits. I had one girlfriend who used to like it to go on for literally 3-4 hours. Just used to lose herself in it. Eventually I developed an ED problem and we eventually worked out it was because I'd lost the ability to respond spontaneously and joyfully to sexual cues, because in the back of mind I knew they meant I had to be ready for an exhausting olympic performance.
But nobody teaches us this stuff, it's not like PSHE in schools actually teaches you anything useful like this. And women vary hugely as well, so even learning from experience can be difficult because a lot of what works with one partner won't (or will be actively counterproductive) with another. It's a bit like trying to learn to play the piano in a world where all pianos have the notes in a slightly different order.
I don't know what the answer is, other than as a pp said, open communication within a healthy relationship. I think for me, the situations that worked best for the woman (as far as I could judge it) were those where she was very clearly aware of what works for her and able to direct things that way, with a low level of sexual shame or inhibition. That of course depends on the bloke caring enough though, which it sounds like some of yours simply didn't.