Whether your life as you describe it is normal or not I don't know. I'd say it isn't among most couples based on my experience at least, but even if I'm wrong by virtue of anecdote, it's definitely not good, remotely healthy or remotely a recipe for how to continue during the one single life you have.
I'd suggest doing everything in your power, even if it means completely breaking your obviously well-fortified comfort zones of personal conduct, to change how you live your own life. Find new activities for yourself, try to meet new people (friends I mean, but don't exclude the possibility of someone that sparks your romantic side) and create a new personal internal and external dynamic of interesting experiences for your mind and body. Work at these persistently, and if after having made progress in these things, you still can't make yourself connect with your wife on some deeper level that goes beyond the banal nightmare your describe, then leave her. You will be cushioned at least somewhat, by having already made inroads into your own self-improvement over the life you've lived so far and the type of life you described from before meeting her.
The economic costs of this will be heavy maybe, but they're nothing compared to, as you say in another reply, living like this "till your dying day", because that would be a miserable day indeed and at the end of a whole miserable life of missed opportunity for new textures of experience that were likely always within your reach.
Having children certainly complicates the above, but you absolutely can escape your situation and still work to keep a good relationship with your kids. Millions of divorced people do it over a lifetime, and usually without major traumas or loss of quality experiences with their own kids.