Exactly. If I felt too much pressure and there was an awkward silence of tenseness. I pulled out always.
Go back down on her, kiss her pay attention to her breasts or other body parts etc.
Or ... if it wasn't happening "stop".
Then talk. No matter how horny you are, bucket up that desire and either save it for her for later ... or ... move on to mutual masturbation. If one is going home, wait until you get home and get off then.
Hopefully, then talking will occur. My view from the cheap seats is considerable talking around intimacy is to be had (if she has medical issues and there is nothing wrong with that at all).
Sex is more then PIV, and hopefully those with limitations (nothing wrong with that) are very open to everything in the sexual menu of life, with consent nothing is impossible.