We still to this day sleep in different beds. It sounds like you have made progress in your M, so what is stopping you from rejoining into a single bed again?
He feels about once every couple months is sufficient. I can tell you exactly what he does and I can tell you how I have tried to get him to do things I like, but he doesn't listen to me. To him, his way is the best way. I think I harbor alot of resentment on various different things. Ouch!!!! I don’t think any one would blame you for harboring resentment over that kind of treatment. I won’t even ask if you have talked about this because I am sure that you have. However, what would it take to get through to him and make him realize that he needs to consider your needs?
If my H had ED (and I can only speak hypothetically about this) and he still tried to take care of me....manually/orally THAT to me would be a huge expression of love. What about getting an implant? Implants don’t’ require any kind of drugs, needles, preparation, or unpleasant components. Have you run this possibility by him? I met a guy that had this procedure done and said it was a huge restoration of confidence for him. He could be ready any time, any place, and for any duration without worry. He said it made him feel like a teenage sex god again.
By all means marry; if you get a good wife, you'll be happy. If you get a bad one, you'll become a philosopher. -- Socrates