You know...I don't think we are in all that different of a position (no pun intended). I just recently realized my H has never been HD...and in fact has NEVER learned to really initiate any type of sexual activity.
Just last night I too pushed the "scheduled sex"...when I asked what nights he would prefer I got...."I don't know." So I said...nope, that won't work for me. Then I proceeded to pick a night that was good for me, and a night that I knew would be good for him. I hated that I had to do that, but if I didn't...I knew he wouldn't.
I've come to realize that what I've been asking my H to do is a lot like asking a blind man to walk around in a room he's unfamiliar with and expecting him not to trip....it ain't gonna happen unless I lead him.