Sex Advice

My boyfriend and I usually use a condom and I make him pull out. He also double checks that it doesn't break. But sometimes we don't use a condom and this month he didn't sometimes. But the times we dont use condoms we doesn't finish and the sex only lasts about 5 mins at most. Well now my period is 2 days late but my periods are normally irregular and my cycles range anywhere from 29-37 days. Should I be worried and consider taking a test?