I would say that most people should really rethink what their definition of sex is. You know what is amazing? When two people are deeply intimate and want to make one another feel good, and it's not about wet ladybits and hard willies, it's about the luxury of touching and being touched. There's a myth I've heard that a woman's whole body is an erogenous zone but with guys you just grab his junk and have a go. Nonsense! A man has an entire body, a whole skin, and a brain, and you can please his senses in many ways, and he can take enjoyment from pleasing you, and none of this has to rely on the old standard of "stick it in and work it til he finishes." First, let go of the concept of orgasm seeking as the end all, be all. Get clear with one another that you'll have a session of intimacy that is meant to feel good, there is not a goal you're driving towards. There is no pressure on anyone. Get creative. Light, music, food, scents, massage, etc. Think of all the ways you can stimulate one another.
I'll be honest enough to say I've had partners whose bodies didn't always cooperate. If we both have a deep, true desire to explore intimacy, though, we will. ED won't stop us. I've played with soft flesh just because it felt good for him and I enjoyed it, and I've been worked over for hours without ever being allowed to so much as touch his junk, in such a situation.
I hear many people say that they aren't having sex because the man has ED. That makes me sad, because I suspect they are generally neglecting sexual intimacy because they've put all the pressure of the whole thing on the state of his dick, and I'm thinking that can't be good for the mental part of ED, either, all that pressure to "perform." And neglecting intimacy is not good for a relationship either. For some of us, touch is a very important love language, and sexual intimacy is critical to feeling really bonded.
So I'd tell any couple dealing with that, relax...take the pressure off...don't stop being sexual to one another, and just have the goal of making one another feel good, nothing more than that.