Make Raspberrypi boot from USB first

Is there a way to make my raspberry to boot from USB and only if there isn't USB connected or bootable it will try to boot from SD

Here you can find details about the Boot sequence of the Raspberry Pi. It is described in detail there but in short you will find, that the Raspberry Pi will allways first boot from the SD Card if one is inserted with at least containing the bootcode.bin file.

So it is not possible what you want. As long as the RasPi finds a bootable SD Card, it will boot from it first.