How do I bring sex back into my marriage?

My husband and I have been married 17 years and have two kids. We have a solid marriage, but the sex and intimacy is lacking. We have sex maybe once a year. We’ve gone to couples therapy, had his testosterone checked, had endless conversations, ruled out cheating and we can’t seem to pinpoint why he isn’t interested in sex aside from his personal body image issues and fatigue from work/life. Now sex feels like a taboo topic and awkward. I tell him all the time I want and need sex, and he says he’ll do better, but he doesn’t. It only happens if I initiate it. How do we take the weirdness out of our sexless marriage and bring back the passion?