Vezzie
That all sounds really, really hard to deal with. Fwiw, my dp has dropped down to 4 days and I actually really like it. He does the laundry, the weekly shop and pretty much all of the cooking on that day. The difference is, he doesn't have any issues with me telling him how things need to be done, so I never have to be surreptitious about rewashing substandard laundry, it doesn't cause a row, he listens to why I need it rewashed and does it differently next time.
My dp doesn't drive either so he doesn't do any of the car stuff but I've resolved that by finding a great garage near work where I drop the car off on my way to work and collect it on the way home. Dp facilitates that by doing the cm run those days so I can leave earlier and come home later.
I also know that dp would never want to be primary carer of dd2. So in my fantasies of leaving him I keep the dcs and the house while he moves out to a smaller flat.
It sounds as if a lot of your issues are with communication, and they don't sound ad if its you with the problem communicating, other people aren't listening or they are talking to you without thinking about what they're saying or why they're saying it.
Btw, I once made dd1 so afraid of me that she hid under her bed for ages.
Not ideal, but stress gets the better of all of us at times.