Here's what, reading between the lines, I think may have happened. I could be wrong; but if I'm not, I suspect your marriage may be over.
Most or all of the sex in your relationship was instigated at bedtime.
You started sleeping in separate beds to get a better night's sleep. This meant that you now needed to be more deliberate to instigate sex.
You had children, which tired you out, and made it even more difficult to instigate sex during the daytime.
Your husband started to get frustrated that you wanted intimacy but it never led to sex. He began to shun cuddles because avoiding physical contact meant he never got aroused and then disappointed.
This led to a vicious circle in which he got colder and started to spend less time with you because it was easier.
You became flatmates.
You could go to marriage counselling, but it's going to be hard to unlearn a decade of his training himself not to want intimacy with you.
Because for all his attempts to pin this on you for your initial decision, he had many years to tell you it wasn't working for him, and he didn't do so. He shares culpability in this. But it still may be too late.