Leave.
I know exactly the issues you're talking about, but can say that it doesn't matter why he is like this.
You want more intimacy. He either doesn't or doesn't want to change.
Therefore you're incompatible.
Sounds harsh, but the alternative is spending massive amounts of time and energy trying to get him to change something g he doesn't want to. Or trying to change yourself to something you know won't work (accepting living with no intimacy).
Your friends will not all be lost if you divorce. Maybe some, but not all.
Lay it out - very clearly - for him if you want and give him a very clear time frame (not more then 6 months), if you like, for him to see if he can/will make changes. During that time, you focus on making sure that if the relationship can't continue, that you're in as best a situation as you can be for the future. This isn't you thinking it's over and not giving him a chance, this is you making better circumstances for you which will never be worse for the family if he ends up changing.
There's absolutely nothing wrong with not wanting sex, not wanting any intimacy or only wanting a very restricted range of sexual experiences. If both parties don't want/need the same though, it's a compatibility issue, unless you both agree to open the relationship up. There's no other way to make up for the lack of romantic/sexual intimacy. And open relationships can work well for some, but be horrific for others, so I'm not advocating that. Merely pointing out that's the only other option (well, apart from cheating).