My DP and I do this all the time… Sex often isn’t all about focussed on the “finishing line”, but just about closeness. We’ll often lazily have PIV sex in bed whilst just chatting about crap. It’s great and we find it very bonding!
But is this unusual? I feel like sex is seen by most people as very goal-oriented, and all about pumping away until orgasm.
Btw, we do have sex a lot, and are very comfortable around each other’s naked body…. And we do also have plenty of energetic shagging too with orgasms.