Dug_in - Since he has only recently come home again, maybe he just feels a little uncomfortable? Also, I from time to time have those not quite up to "standards" performance issues (I'm 47). Sometimes it is fatigue, sometimes it can be for no apparent reason. It's just one of those things as we men get older. (If you have read Bagheera's posts on ED/PE issues, there are things guys can to to improve in this area. I wouldn't worry your H with it right now as it could have been just a one time thing.)
I would not read too much into it since this was your 1st ML since his return. When my wife and I reconciled about 7 years ago, I remember the 1st time we ML again, it was awkward. It seemed like we should be able to just pick back up where we left off. We had lost our connection though and until we felt really together again it wasn't just an automatic act.
Keep working on your emotional connection with him. That physical connection will follow.