Ok first of all lucky you that your husband is so great
Its not luck to have a husband who is "great", it is - or should be - the default. DH drives me batshit sometimes with his little idiosyncrasies (and I'm sure I do the same to him) but he doesn't treat me like shit, he isnt disrespectful to me or my needs, he doesn't try to emotionally blackmail me into having sex, and he isnt emotionally abusive to any of our children.
I grew up in a household much like the one you've described and it was shit. I love my mum and we're close but I do still resent her for not leaving. There was always an excuse - it's not the right time, I need to save up, I can't provide what he provides, he's nice a lot of the time and he's always sorry after. Those last two were the kickers. Didn't matter that he told us we were pieces of shit who wouldn't ever amount to anything, that we were ugly, that we weren't worth loving so long as we had a car, three holidays a year, and once things. Didn't matter that we lived on eggshells waiting for his unpredictable temper to turn because he was nice the rest of the time and he always said sorry. The cars, the house, the money, being nice when it suits, and saying sorry are the carrots so that you'll tolerate the stick.
It's no way to live, OP, and saying you're going to leave is not the same thing as actually leaving.