I have never orgasmed, or atleast not that I know of

My boyfriend and I have been dating for almost a year now, and I have never finished once. We have sex pretty often and he finishes everytime, and so I kinda want to finish too. We’ve tried to make me finish before but it was taking so long that I just got insecure and didn’t want to keep going. I know he’s felt bad about, as we’ve discussed it before, we talked about it a couple months ago and now idk we don’t really even try. I was talking to a few girls a couple days ago and we were talking about sex, they were talking about how great it was to finish and that they wouldn’t even bother with a man who couldn’t make them finish. For me, that is not that case. I love my boyfriend and the physically intimate aspect of our relationship is not super important to me, as I find it enjoyable for the most part. However, I want to be able to finish as I think it would make us both feel better about our sex. We don’t spend a lot of time on foreplay, which I’ve read is important, but even when we do (like 20 minutes) I still just can’t reach my climax. And it feels good, but I don’t feel how people describe how they feel when they’re about to orgasm. I’ve felt like I was close maybe twice, so I find myself becoming more and more frustrated in why I won’t finish. Maybe I need to experiment to find what I like more? But I also don’t really like masturbating much. I know some of what I like from experimenting with my boyfriend but still it hasn’t worked. I really just wanna know how it feels to orgasm, is there any possible advice?