My wife and I still sleep in seperate bedrooms because she sleeps with her daughters, how do I deal with this after 5 years?

I recently spoke with my wife on this, her husband cheated on her when she was pregnant with the first, that lead to a divorce. Her second try at a relationship was a total rebound with a Dr, and there ended up an accidental child. So she has two daughters, two failed relationships, and most recently her parents divorced after 35 years. She told me recently that she doesn’t trust that I will be here, and she thanks god every day that I am here. But this dual fear of marriage failing, and leaving go of the girls is making our marriage very difficult. There is very little physical intimacy, I am not necessarily talking sex, more the fact because we do not share “our” room, and “our” bed, it is weird.. I accepted the fact that she didn’t want to do it before we were married. Now that we are married I am really struggling and growing very resentful. I do not know how to handle this anymore.. I love her with all my heart, but my heart breaks every night she kisses me goodnight and leaves the room to go sleep in motel 8 with the kids…