Is there any hope for this marriage?

I’m a smart, attractive, fun, social 41F and mom to three kids (8, 6, 3). I have many wonderful friendships and am very accomplished by the standards of this world (but to mother our kids, I don’t want to work all the time). I’m also a person of faith. Husband is fit, successful, generally a good dad (somewhat emotionally distant), has a few friendships but is generally an introvert and not inclined to be social in the ways I am social. He is pretty much asexual. Not sure if he’s gay but other than no sex, not too many indications of being gay. There’s no touching in our relationship, ever. No sex for years. Literally only to create children, which was almost immediate for me. He’s not having an affair, no porn, it’s literally always been this way. I initially thought his sexual boundaries were due to his faith but it’s obviously more than that. We are financially very well off but he is such a grump and again, no touching or positive emotional connection. I’m not perfect—I get super ticked off when he is myopic or obsessed with order or comes home after 4 days from an international trip and doesn’t even kiss me on the cheek or thank me for managing everything. We’ve been in emotional freedom therapy for a year for him to learn emotions but nothing has improved. I don’t mind when he’s away and mostly look forward to his return simply for help with bedtime and cleaning. What do we need to do to salvage this?