painful sex

Curious if anyone else has painful sex? My husband and I have been sexually active since we were about 14 (23 now) and as far as I can remember it has always hurt. I think it didn't hurt as much when we had sex more often, but it's gotten to the point of avoiding sex because it just hurts too much and isn't enjoyable for me.
I recently went to the doctor for my annual pelvic/pap exam and everything looked normal and the tests came back clean. I'm worried it could be endometriosis after doing my own research, but they can only decide I have that through surgery I believe. Any tips for making the pain manageable? We have tried lube, it just feels like a tight intense pain that goes away the second he pulls out. I just don't know what to do anymore??