None of that is to say it's impossible. It certainly is, and that also is only taking the physical into account, not the emotional. For some people, the relationship and emotional aspects of sex far outweight the physical. That's just fine.
The only problem with that is that sometimes we can then forget that *we* are responsible for our sexual pleasure, not someone else. If the situation ends up being otherwise, it can get troublesome. people can be dissapointed when their partner doesn't bring them the relase they want. people can get despondant when one lover was able to do it for them, but another cannot. It also makes differentiating between the sexual and emotional aspects of our relationships a little bit harder.
In my mind, if you are aware of those pitfalls, you're probably just fine.
You can't be sure if you are or are not having an orgasm, but you'll get to know over time. Do your genitals get to the point where touch gets ticklish rather than pleasant at times? Do you feel any sort of release during sex? Can you pinpoint times you feel so intense you need to wind down a bit? If so, you've probably had an orgasm.
Sex is a lifelong experience. You'll find what happens now might not later, and what can't happen now probably will in time. If you're enjoying what you are doing, you're doing it safely, and you're feeling good about yourself in and out of the relationship, I'm sure it's all good.