Penis foreskin query. A urologist?

I have an uncircumscribed penis. When my penis gets erect, the foreskin doesn't get retracted naturally and the inside glans are not visible. But I have a normal absolutely painless intercourse with a condom on. The foreskin stays intact even after sex. Is it going to be same experience even while not using a condom, that is painless? Just for my own curiosity I have manually pulled back foreskin and the entire head becomes visible. When I try to get it forward in regular position, it takes me quite some time (15-20 minutes) to ensure that the glans are not at all exposed as I understand if that doesn't happen, there can be swelling underneath(paraphimosis). Because it takes so much time, I avoid this exercise in itself because so far my intercourse is also not getting affected. Is this ok and sustainable or should I consult a urologist? Please advice, thank you.