Those 'bring my own condom guys' are laughable take no notice.
I don't allow clients to touch condoms at all. It's a hygiene and safety issue.
I brush their hand off or tell them not to. As long as you track their paws-all good.
So it's pretty impossible to stealth manually.
If in doubt I'll stop and examine the condom and replace before we continue. I stop for many reasons, not necessarily stealthing, it could be over-wet or dried out or slipping with friction...whatever. Those are the most common, everyday dangers.
If you keep touching the peeny every few seconds, and hold the condom firm there's nothing to worry about.