I just need to get this off my chest

I (28F) have been married to my (28M) husband for 3 years. I got pregnant 3 month into our relationship and we bought a house 3 months later. We got married a year and some months into our relationship. We just signed our papers and had them recorded at the court house. No ceremony, reception or honeymoon. We’ve had a turbulent marriage to say the least. He’s a wonderful father. Hands on for the most part. He is a little lazy and selfish but is aware of it. I have my flaws as well. I had a rough childhood and it definitely creeps into our marriage from time to time. I feel really emotionally unattached from him and have for most of the relationship. I do most things myself. We don’t have mutual friends or hobbies. He zones out every time I talk about my day, the things I enjoy/ hobbies or the things that bother me. No dates or vacations. So I’ve just relied on my friends for emotional support. I have a great group of friends so I wouldn’t say I’m lonely. I go on plenty of friend dates with my girls. I thought I had just accepted that is how he is and that I’d never be able to rely on him for emotional support. He’s avoidant and has no plans to change. I use to beat myself up trying to change him but I’ve learned there is really nothing I can do. He refuses therapy. Talking about it just makes him shut down and it just makes me emotional. So it turns into a cluster that leaves us both feeling defeated. So yeah, I’ve just given up on that and try to accept him for who he is. For the most part I can accept this. The economy is crap, we co parent well and I do not want joint custody. I love being a mother. There is no abuse but also zero passion. So leaving just seems like it would cause me and my kid more pain than staying. If we were to divorce, I’d have no desire to date anyway so what’s the point? But I still have this nagging feeling I’m wasting my life on this marriage. I hate being home when my kid is gone or asleep. I just clean, read, do my home hobbies and sleep. I literally sit in the drive way some nights from work and have to force myself to walk through the door. He says he’s happy with our marriage but I don’t see how he can be. But I’m also not him and I’m pretty sure he wouldn’t tell me if he was unhappy. I just want that nagging voice to go away. My life isn’t terrible. It would for sure could be a lot worse but I don’t know. I guess I’m just bored. I want more but I don’t think there is more out there for me. How many people have had marriages like this? How do you cope with the occasional disappointment/ boredom?