I recently met a woman who is in a long term relationship. She was very flirty towards me and suggested that we might have sex, but at the same time claiming she was happy with the relationship she was in.
As far as having sex is concerned, the ideal relationship should be a two-way street. Unless you’re in a dom/sub sexual relationship where one person gets all the goodies while the other reaps the pleasure, sex should be equally pleasurable to both parties.
Whether or not you don’t like to waste time or you think your partner is not a fan of foreplay, skipping that important lead-up is actually going to decrease the chances you have of getting the maximum pleasure.