28, and still learning what exactly to do.
Being told "Can't you cum?" And "can't you do foreplay" was quite the blow.
I'm assuming you're not trolling.
@LTO_3 's advice is good. You should find a woman to explore with, not an escort to pound at while fixated on cumming. Escorts are not particularly good practice for civilian foreplay, though being decent at civilian foreplay and sex can make you better with escorts (as you'll have a better understanding of what actually tends to get women going, and be better able to read sexual cues).
It sounds like you're going from zero to pound town, while fixating on cumming. Some escorts are OK with a fast start, but even many of those escorts would prefer to ease into things a bit. It's not surprising you're not cumming if the providers you're with are going to their "happy place", or are otherwise on their back foot.
If you're going to try again with escorts here's what I suggest:
Get the basics right. Then you're going to talk to the escort until you have a sense of each other's vibe. (That doesn't need to be a super long conversation.) You're also going to mention your inexperience. At that point you're going to try some kissing and gentle caressing, along with SLOWLY removing her undergarments.
Then you're straight up going to ask her to show you what her (individual) clitoris likes, and to tell you how to do it. You're only allowed to use your fingers and mouth. You are not allowed to put your dick in any of her holes until she both gets significantly naturally wet, AND you get her seal of approval for figuring things out.
Then try to stay focused on the mutual experience that follows, not you cumming.