is it possible to have a healthy relationship with bad sex?

let me get this started off me saying - i love my boyfriend.. the sex is just horrible.

Me and my boyfriend dated for about 4 years & we have a daughter together but eventually just decided to separate and coparent. During this time we both started dating and seeing other people but somehow found our way back to each other a year or so later.

I never thought our sex was bad before because he was the only man i had ever slept with at the time but after being with someone else , i just no longer enjoy being with my boyfriend. I understand communication is key when it comes to intimacy and i’ve tried so many times to verbalize what i like and what i want but it just isn’t working. He is a great guy, a good father, he’s my best friend and biggest supporter but it’s such a burden on our relationship for me.

I’m not open to the idea of having an open relationship or counseling or anything like that. I just don’t know if it’s possible to make things work when there’s no physical chemistry anymore. I just don’t find him attractive physically compared to what it was 4/5 years ago. I talked to my mother about it and she has always loved him and she told me just to try to make it work if that’s what i want to do but she also told me if there’s no chemistry or connection i shouldn’t force it because it’ll just cause problems or i might cheat on him. I would never cheat on him. I just don’t know what to do..