OP, you acknowledge the problem which is always the road to a solution. Plus you have young children, being tired is not a crime.
Nice underwear on a regular daily basis is, makes you feel good about yourself at the start of each day, and, in my view, better than something particularly raunchy bordering on tacky for the bedroom.
Maybe try the occasional oral only sessions? You have mentioned different positions, with communication you can also change “mid flight” as it were. Do accept though that you need to separate the practical from the plain daft which would probably see you in A&E.
As for toys, probably better for solo use in my view, but can liven up a dull day and keep the body alert, when you are too tired (it happens) to share and entertain.
l suspect (may be wrong l concede), that lack of confidence and finding things hard is because of a mix of female upbringing (when you are taught that “naice” girls don’t, which goes on to develop peer attitudes when in your teens. it’s gets complicated because engrained in you somewhere is the message that it’s wrong!
So rather than pull your big girl pants up, pull them down with pride!