Numbness and apathy

I've reached such a strange point in our marriage. Husband (suspected ADHD inattentive type) still hasn't been able to get an official diagnoses as it is really difficult to get an appointment and also hasn't found a therapist as it is also difficult (although I suspect he hasn't tried consistently), so while he agrees that he has the condition, and also is trying in his own way and things are better on the surface, I'm starting to wonder if the damage is simply too big to overcome in our marriage. He is a really good human being, and I love him for his excellent character and for always trying hard, but he has major issues underlying it all and imo really needs to work with someone to tackle some of his root cause issues. After 20 years together, our issues (my childhood issues + anxiety and his issues + ADHD) have collided constantly, and caused us both a lot of hurt. Over the years I've had to distance myself to protect myself, and it's ended up where I'm basically numb, apathetic and honestly not attracted to him at all. I have virtually no romantic feelings toward him, don't really miss him much when he is away, and feel myself drifting off (again) into a more independent life. He is a good father, and the thought of divorce terrifies him, and I honestly don't feel like its possible or the right thing for our family, at least not now. 

My question is: is it possible to reignite whatever was there 2 decades ago, WITHOUT a therapist who is helping him individually and probably a couple's therapist thereafter? Has anyone salvaged a basically platonic / parenting marriage, and been able to reconnect and have a somewhat fulfilling for both relationship? I honestly feel like it's impossible, but maybe I'm just so guarded that I can't let myself connect again out of fear for the disappointment and let-downs that are so much a part of it. I'm far from the perfect wife, but I'm exhausted beyond words, and have recently started working with external and internal boundaries to save myself from burning out and losing everything. I realize this will never lead to intimacy, but I'm honestly not sure I even want it anymore (although I fought and cried for so long to have it!). I'm so sad, neither of us deserve what this has ended up being. Any help appreciated...