Sex File: We've only slept with each other — have we missed out on better sex?

We've been together since we were teenagers and I feel like we've been going through the motions in the bedroom for some time, but since our son went to boarding school, it's really exposed the lack of excitement in our sex life. 

We're only in our late thirties and I worry we've missed out by never sleeping with anyone but each other. Friends have suggested we "open up" our marriage but we definitely don't want to do that. What else can we try?

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