We are sorry to hear that taharat hamishpacha is a challenge for you. You are not alone – many women feel that these laws are challenging and frustrating. With time and practice these laws generally get easier.
It is important to identify the issues that frustrate you most and try to work out solutions to them. Avoiding directly passing items from hand to hand is one of the harchakot that ensure that a couple will not touch. The awkwardness that surrounds this restriction can often be eased by preparing for it in advance – discussing ways with your husband how to smoothly and unobtrusively pass things indirectly in various situations.
Regarding preparing tea, it is permissible for your husband to prepare tea for you, although he should not serve it in a normal manner. If you are sitting at a table, he should place it slightly away from you (i.e., not directly in front of you). According to some opinions, it is sufficient for him to place it in front of you using his non-dominant hand (i.e., if he is right-handed, he may directly serve it with his left hand).
Please feel free to get back to us with any further questions.
B'Hatzlacha!