Your DH has harshly critique you.
Is he kind, supportive, generous, shares the workload?
What was his motivation do you think?
Everyone is capable of change and I think seeing someone might help you manage and improve the areas that you know need working on.
I don't think I know of a single mother that wouldn't say they were "gloriously self absorbed" pre having children.
I ate, slept, holidayed, went out, exactly when I liked.
I came home from work "exhausted" and never got up from the sofa for the evening.
I had zero interest in children, at all, before having my own.
I think the above is very normal and I loved those years.
However, when I had my first child it did changed me. It changed my dh as well.
It was a shock, the 24 responsibility and the loving of this baby so completely. But you get used to it and it changed me for the better.
I was definitely very unsure about having children and left it late enough, but something in me couldn't quite imagine a life without a child.
Focus on that and also have a really good look at your DH.
Do not have a child if he is not totally committed to you and the idea.
On the other hand I have friends without children and despite looking amazingly well and fresh for their ages, they have never regretted it.
Best of luck.