The question boils down to do you or do you not want to have a functioning, fulfilling sexual life?. If the answer's "Yes!" then we on the board (and even more preferably a professional counselor) can help provide outside views and ball strategies back and forth.
You are the captain of your destiny. If you want to sail in becalmed waters, knowingly, then that's your decision. I strongly advise against it. Life is too short, too limited to not try to live it to the fullest. My life isn't perfect, but it's a heck of a lot better than it was when I first got here 6 years ago.
Change begins with an idea. Idea's need to be translated into actions. I do strongly suggest you begin professional counseling for yourself to work on this issue to get past the complacency that has evolved in your relationships over time as you've both pointed out. Yes this is quite complex and personal but therapists see it all. Don't give up, give in, or surrender! Ever!
Everyone can use support and the occasional 2x4. We can give both. So, what's it going to be? Change or not?
