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What can we do to avoid painful sex for my wife as we get older?

My wife and I are both healthy 47-year-olds who have been married for more than 20 years. Basically my wife dislikes deep penetration because she feels like it "bumps her internal organs." Is there any way we can get both deep penetration for me and comfort for her? Is there such a thing as a vagina that is "too short"?