Horrible sex life

My husband is my bestfriend. The best person I know, so handsome and kind and unbelievably great... but our sex life is awkward and horrible. I’ve always been so comfortable sexually and he’s always been awkward, I thought it would get better with years and communication and becoming more comfortable with one and other but no... now it’s like we’re 2 room mates who are only having awkward sex to try and have a baby. All the other aspects of our relationship are great until we get into the bedroom and then I get so turned off and feel so sad and uncomfortable and he cums in like 2 minutes and and there is zero foreplay because he’s so awkward and nervous. I don’t even know what to do anymore but I’m at my wits end. We’ve been together for 6 years so it shouldn’t be this way. Help