Advice from girls to girl about sex health

A lot of y'all are way more experienced in this whole love, sex, and lady business than I am, and I am turning to y'all for some advice. I will turn 21 in March, and I have never been to a lady doctor before, due to living overseas and moving around a bunch, and never really having a reason to go to one. Plus my family is not the best at educating us kids along the lines of sex and health in that area. But now that I am settled into college and living with my boyfriend, I have been wondering if I have been missing out on anything that I am totally unaware of. Me and my boyfriend have been having fairly regular sex for about 7 months now, and we only use condoms for birth control. I can't really go get myself on prescribed pills or anything, as my parents can't find out that I'm having sex through a prescription of pills on our insurance. Should I worry about getting on another form of birth control, or are condoms fine? Most of the time my bf pulls out when he cums even with the condom on, so we have been safe so far. Also, if I have not had any issues with anything yet, is there any reason for me to see a lady doctor? I have friends who talk about seeing theirs all the time, but I have never been, and I'm just wondering if there's something I'm missing here? Any advice would be great, as I'm still fairly new in the whole area of sex.