When it comes to intimacy,are you pro traditional sexual practioner or sexual explorer?
As I've gotten older I find I enjoy exploring more and trying new things.
To avoid the STD's a condom for me,it may not be "Romantic',but it's health,your's and her's that's the concern.
Condoms can be very romantic. Nothing says "I care about you" like showing your partner(s) you want them to be healthy.
Have your partner put it on you. That can be fun and/or erotic.