Do I stay or go?

I have a huge dilemma that I suspect is not uncommon. We’ve been married 31 years, grown up kids, grandkids etc and now I just feel like I can’t stand him since he retired and had numerous, non serious health issues. I never envisaged having to encourage him to get up every day or to have a conversation with me. We barely talk and lead separate lives in the same house. I wonder whether I should make the break or stick with it for convenience. I’m not interested in another relationship but I just can’t bear what my own has become. I just want companionship, simply enjoyment in each other’s company but it seems that it’s an impossible dream! He does acknowledge that he’s become difficult to live with but how long do I accept this for? I do still love him but wonder how much longer I can go on, waiting for a change that I don’t think will happen.