Sex feels "scheduled" and rushed

My husband & I are in our mid 30s, together for 17+ years with two kids. Our sex life lately always feels too scheduled or rushed, which is a huge turn off for me although he doesn't seem to mind (as long as he's getting some at all then he's happy)...

When I speak up and tell him I can't just turn it on like the flip of a switch, I need foreplay, bla bla bla....he gets annoyed with me like I just ruined the 5 min we have to do it. Which I kind of get but at the same time it's like what's the point of having lame sex that isn't even intimate?? I know guys are wired differently but man....I just don't get how this is ok with him. Need a man's perspective on this & how I can get through to him that I need more romance and foreplay leading up to sexy time.

Side note: we used to have an amazing sex life (in my opinion), but of course that was when we were younger, hotter & less tired. 🫠