Hmmm. You know...it sounds to me like your sexual relationship is just one of many concerns. Your not sexual compatible...but maybe your personalities are not compatible either?
It's a hard one. It feels like a giant gap between you and your spouse. I've been there...I am there right now. I can give you a small piece of advice based solely on my experience. If you want to stay in your marriage...try fixing it now. The gap only gets bigger and harder to cross.
For me..my husband and I were never sexually compatible...but now our values are not even compatible. Which caused our friendship to dwindle....now we are on the edge of divorce. Did the sexual relationship play a role? Hmmm. ..idk. I think ultimately we just grew into different people. Maybe that's what is happening?
Try to look past the little crap and see what the true problem is. For example...pile of clothes in the bedroom. Simple fix is a laundry hamper from Walmart for 15$.
But why does it bother you so much????let them sit there? Ignore them. ...it's probably representative of a larger problem. Quit nit picking the small potatoes and find the big one!
Soooo..I thought about ur original question some more. Should I stay or go? I stayed in an sexual unsatisfying marriage for 19 years. Never got any better for me no matter what I tried. Gave up 10 years ago and it's just another thing in my weekly chore list. But for me...it wasn't enough to make me reconsider my marriage. Did I miss great sex...gawd yes. But not enough to uproot my kids. 6 months ago when other issues became too much for me to overlook...I stopped having a sexual relationship with my husband. For him...not having it is such an important factor for him in life. I think it's enough to make him want to leave. So...I still think it's how much value you place on that portion of your relationship. Wish you the best.