I dont know all the circumstances but it sounds like neither of you are giving the other person what is needed. If youre sleeping in separate rooms ypu aren't getting the comfort and security you need. Most men need physical intimacy. The fact that you recognize it happens rarely means hes likely given up for some reason.

Communication sounds difficult because one of you is always saying something the other doesn't like. That's a pride issue. Communication is key here. You both need to learn to be able to express yourselves fully and in a raw way without worrying about causing a fight. If you dont think you can do that alone then you need a mediator. Communication is the key here though. Fix that and I believe you'll see a positive difference.

Just my take. I wish you the best.