I realize sex and reproduction are not the same question but I would analyze them largely together.
There were birth control methods back in time, read about them here -- but ease and availability of the modern use of birth control (and for a time there was legal abortion in the USA -- Roe vs. Wade passed in 1973 but was overturned June 2022) -- the pill created the freedom to enjoy sex without concern for pregnancy.
Here is a good article on enjoying the sensual quality of sex through tantra:
What is tantric sex? Definition and how to practice
What is tantric sex? Read on discover the definition, processes, breathing techniques, and positions of tantric sex, as well as how to prepare for it.
www.medicalnewstoday.com