You don't know that he isn't willing to step out of his comfort zone... I believe he has actually tried... yet he also knows you are going to judge him if/when he fails. How many times have you said you could have sex but you don't because it isn't what you like?
Yes, it sounds to me that YOU are the one who is not willing to step out of your comfort zone, and he can only go so far out of his comfort zone if you aren't going to go with him. kwis?
Alpha Soldier Guy is nice, sure... because you don't have to take any emotional risks whatsoever. It is exactly how you like it, so you don't HAVE to say one word.
But I bet the farm it wouldn't STAY that way, because once things got emotional between you, the sex would change.
I think all the anger and avoidance you are accusing your H of... you are actually as guilty of, yourself.
Now, if you really try things, you expand yourself, and you STILL can't get there... well... then you two can talk then. But can you honestly say you've given it a good college try?
Again... it isn't about HIM. It's about you. Taking/asking what you want, and giving what you want.