If she is indicating to you that she does not desire sexual/physical intimacy and is also refusing to go to counseling, then yes, if you're to remain together you'd remain in the same situation. You alone cannot fix something within the marriage because it is a mutual task.
Many individuals confuse familiarity with having fallen out of love. A person can also recreate the feelings of being in love. If she is struggling with low libido, there may be reasons such as hormonal changes even depression that can cause that. But, if she is not willing to engage in self introspection or do anything to change (improve), then it would not be realistic to expect anything to go differently than what you've been dealing with up till now. She wants to live with you as friends and that is different than being and acting as your partner (wife) Your daughter is older now and remaining together for her sake may not be the healthiest thing. The two of you may revisit what options there are left depending on what you want to do hence forth.