Run, woman, run and don't look back! You'll feel so much better without him (speaking from experience).
I was married to such man-child. Married at 24, separated four years after, divorced after 2 more. My family also didn't support me/understand me, as he was 'such a lovely man'. And true, he was, superficially. However, they didn't LIVE with him. I wasn't ashamed to be divorced in my 20s. The way I saw it: ok, I've made a mistake, but I'll be damned if I sacrifice all my life and future because of this mistake.
He was exactly as you describe and worse. He 'didn't see' the mess. Everything was always 'ok' for him. Sure, he could do what was asked of him after a bitching-nagging session, but I wanted to be his wife and not his mom.
One of the final straws was when I got back after visiting my parents (been away for a month, he couldn't go). Our baby was 6 months old then. So I come back with a baby, exhausted after a flight. House is a COMPLETE mess (believe me when I say this, I'm absolutely not pedantic), rubbish everywhere, dirty, stinky, gross. No food in the fridge. I go to the bathroom. And I see a dirty nappy on a washing machine. The thing is, I was in a hurry to catch my flight, so quickly changed the baby and forgot to bin the nappy. It was still there. AFTER A MONTH. Now I'm not timid/shy or anxious, I'm a ballsy, 'take no shit' kind of woman. But I sat on a toilet and cried.
I left him shortly after that. First I started resenting him, then I was repulsed and then I started properly hating him, so there was absolutely no point and no way to stay together.
Last I heard of him, I'm still 'a bitch' for leaving him, as he 'done everything for me' and was completely faultless. Fuck him.
So yea. LEAVE.