I only have been married for 5 years but seem to be in the same boat as you. The first 6 months of our marriage the sex was ok, actually felt good and reached a few orgasms. After that it I had little to no pleasure, we rarely have sex and as you said it has done a number on that intimate connection.
I am not on birth control, have done the hormone testing to see if everything is at a good level, and we have done counseling. There is a difference between low sex drive (which is you just don't have the urge) and no pleasure during sex (which in the end can led to a low sex drive, who wants to have sex if it does not feel good).
All the doctors I went to said just do it, the more sex you have the more you want it and it will feel pleasurable... well my husband gets the pleasure and that is about it, I have tried faking it in hope it would turn real some day but after months it never did.
Finally I got sex books, we read them together and try different positions finding that sometimes a different position hits a pleasurable spot for me (still rare but sometimes it is good). I have also tried those intensifying lotions (the really strong ones otherwise they don't work for me), they work a little, get the blood flowing and tingling sensation down there which at least makes sex a little pleasurable. I have noticed using the lotions too much and they do not work as well so I try to use it ever other week. Also foreplay is what really does it for me, my hubby and I have really worked on extending that since it is most pleasurable for me (had to experiment to find what was most pleasurable, books were very helpful for us in this category).
Just keep reminding your husband that you love him and just because sex is not burning the bedroom down does not make him any less of a man to you. Besides that I have nothing, very interested in other advice.