Lonely marriage.

Hello. I’m in a marriage of 21 years and I’m so very lonely. We both work and when we are both home we sit in different rooms and watch our own TVs. I only have one younger child now and she keeps me sane with someone to chat to until she goes to bed. There’s no sex or intimacy. We do sleep in the same bed side by side. There’s no communication unless it’s about the kids or work. Years ago I had counseling and she had me approach him and tell him how I felt.. I did and it changed for about a month. For him I guess everything’s fine? He always seems chill doing his own thing. I feel like I’m at the end of my tether. I’m not even sure how to bring up the subject with him because we haven’t communicated like that in so long. I can’t see this getting better, in 5 years .. 10 years time I’ll still be in the same boat because I have no strength and I’m worried if I leave I’ll be making a mistake. It’s scary.