... low level non physical abuse/bad situations are difficult to leave.
It's important to remember that the ultimate aim of abuse is to convince the victim that she has no choice other than to stay put and tolerate the abuse.
Emotional and psychological abuse often has a deep impact on your self esteem and your perception of how the world works.
You posted here from the perspective of a woman under the thumb of this abusive man, asking if SS would really take your children away from you. He has ground you down to the extent that you are ashamed of your home and don't have people over. He has succeeded in partially isolating you.
The other details you have supplied - the financial abuse, leaving when the children were small, and being on the verge of leaving last year, all point to an abusive dynamic that has been going on for years.
That he would kick the children's toys around speaks volumes about the abusiveness here.
Clear up what you can and take photos while he is gone out. Next time he gets destructive like that again, call the police. Kicking things around is like pounding walls or mistreating a pet - it is intended to be physically threatening, a foretaste of the violence he is hinting he is capable of. Taping the mess he created is quite pathetic but the aim is to make you afraid. He is trying to make you afraid of standing up to him and asserting yourself. This represents an escalation of the conflict.
I would call Women's Aid again if they have not yet called you back and report that he has kicked the children's toys around.
Women's Aid are going to be more helpful to you right now than SS. You need advice on housing, on how to get him to leave, or how to find a place for yourself and the children.
SS will not come in and referee the situation between you and him, or tell him who is right and who is wrong in this situation.
Nor will WA. WA will offer assistance in leaving, advise you of your rights, offer counselling. They will give you the strength to end this relationship and offer the resources you need to stay safe.