I get some of my ideas from my H's Men's Health magazine! My H does sound a lot like yours, in that he doesn't give alot of affection outside of the bedroom, but I am working on it, and I snuggle up to him when we are watching tv, and he will put his arm around me. He did make the comment that I didn't used to ever sit like that with him to watch something. He likes it, too.
The dinner date with your H a month ago sounds so nice, and maybe that's what he really likes, a surprise from you. About your D and her BF, can you take them to the movies, and pick them up after? Or does she have a good R with her grandparents? My S just spent a few nights with his grandparents, and it gave us time to ourselves. Or what about her cousins? Does she have younger cousins that she could babysit while their parents go out for the evening, and then spend the night over their house? Or maybe you could enlist her help in putting together a nice dinner and decorating for it, then letting her go to the den to play video games or whatever.
And I don't for one minute believe that you are sexually incompetent, I believe that your H after all these years has gotten apathetic, and it will take something to shake it out of him. I have never read any sex books, but I am sure there may be some good ones, look on Amazon.com, type in what you are hoping to find and then look to see the reviews that others have posted about the book. I have bought many books this way. It helps to see what real people say about a book.
Are you involved in church? Many times the church's young people will have get togethers at someone's home, it might do your D some good. Our church does not do recreation activities at the church, but we do things in member's homes. Our 14yr old loves doing this. But, anyway these are ideas on getting her something to do while mama and daddy stay home with something to do!