Most of the time, yes. Most of the sex is done with foreplay, caressing, smelling, kissing the belly, then oral. I rarely use my fingers because they are not soft enough and they get dirty from stroking. After that, longer sensual lovemaking.
Sometimes we are both so turned on that it turns into sex almost immediately, but these are short-time, quick shots, fuck.
During heat usually in a short time also be sex, fuck, mating. Females like it that way in heat. However, this is medium-term sex, not quick sex.