Has he tried Tadalafil? You can get it from Numan (on-line). My marriage was similar to yours, although we did hold hands and kiss, but the sex was infrequent and I was pretty desperate.
After a good few years of this, my DH ordered Tadalafil and testosterone supplements. He takes both every morning. After a few months he became a different man. His sex drive went through the roof, and when he was on annual leave recently, we were having sex every day.
The Tadalafil ensures that you can get an erection easily, and I think the crux of the problem before, was that he was terrified of not being able to perform. He found it easier to say he wasn't in the mood, rather than get going and then have his erection fail. Now that barrier has been removed, it's so much better.
If you read the blurb about Tadalafil, it tells you tat it won't increase your sex drive, but will merely ensure you can always get an erection. This has not been our experience, and I have posted about this on here before, and had other women say that their DH had the same thing happen. I recall one lady saying her DH had to come off it, as he just wouldn't leave her alone. 😆I think also coupling it with testosterone boosted it more, and removing that psychological barrier about failure to perform.
It's been life changing for us. I'm happy we are having regular sex, and he feels more manly, more in control, and like he isn't letting me down anymore. He is also loving the sex!
I would tell him that you can't live like this anymore, and ask him to give this a try. Be sure he takes it daily and be patient, like I say, it takes a few months to kick in.