Why do you think he told you? Guilt/you might find out? to hurt you? Is there any chance he’s viewing porn? I just can’t imagine doing this to someone I love, knowing how much it would hurt them.
Another thought is he has friend zoned you and simply isn’t interested in sex. There’s nothing wrong with that, as long as you are both on the same page. Could he have lost his libido and also doesn’t particularly care that he has? He sounds like he simply just can’t be bothered, that he’s comfortable. He’s emotionally unavailable.
My last guess is that he’s just going through the motions with family things and isn’t very happy in the marriage but for whatever reason happy to plod along as long as you don’t pressure him to communicate about your relationship. Does he ever say he loves you? Do you say it to him?
I think you have two choices, give him an ultimatum and say you have to have a sit down, face to face discussion about sex, his ED and the lap dance or the marriage is over (you’d have to mean it though).
OR let it go and carry on as you are- as friends.
I can tell you love him very much, but I think
you’d be better off without him, I’m not sure he can give you what you need. People sometimes drift apart, fall out of love, change it doesn’t matter how smart, slim, fit, beautiful you are. It’s just something that happens.