Has it always been this way?
Perhaps you need a reset. If you say you are guilty of it too, it sounds like it’s become the default setting. Try modelling some of the behaviours you want more of and see whether there’s a shift.
So, if he does something useful, rather than pointing out that you too have been doing stuff, just say, ‘Oh, you did X- brilliant, thank you!’.
Take him a cuppa in the morning, and present it with a cheery, ‘Good morning!’
Start to change the culture within the relationship. A quick, ‘You know what I like about you?’ Then tell him.
If he doesn’t catch on and start to reciprocate, then you can reevaluate. It takes a while for things to become habit though, so patience is needed.
If you’re thinking,why should you be the one to start this, then you’re immediately back in resentment and competitive mode- that’s the place you both need to leave behind, and it takes one of you to start that process.