If I don’t get the car cleaned he’s not happy and speaks down to me about how he works hard for the things he has and I don’t look after it. He tries to lecture me if I prepare/cook food a different way to him.
Isn't it amazing, OP, how one seemingly small incident, one pause for reflection, one push-back to a bully's unacceptable behaviour can open the floodgates of realisation that all is not well, & has not been well for some time?
CONGRATULATIONS. You are starting to think beyond the FOG (please google Fear Obligation Guilt).
Guess what, none of us here who have escaped/survived domestic abuse are AT ALL surprised by these revelations you are having.
You are not in the wrong, you are not dense, or beaten down, or culpable in any way. The journey you are about to embark on will be full of these realisations. You might even choose to view it as being at the centre of your own detective story, as the clues come together & you start to recognise the pattern. The entire purpose of your story now is to win your freedom - either from his outrageous & ugly controlling behaviour, or even from the marriage itself.
Stay focused, & when you can't, get dreaming of how life would feel without being at some twat's beck & call. You are not this arsehole's handmaiden & he can either shape up or fuck off. You are not alone. You can do this. Imagine how empowered & glorious you will feel when you are no longer accepting his crap. Imagine ditto when your children are no longer forced to internalise his crap.
Big hugs to you. Message me if you feel it would help you.