And perhaps trying to be more upbeat about how this could work out, let's think of a path for how a positive conversation with your husband could go...
OP: DH, you spend 8 hours on a Saturday cycling, and I never have any time to leave the house on my own.
DH: You have every Xday afternoon on your own.
OP: I use that time to do the washing/shopping/tidy the house so it's done for the week - that's time to look after all 4 of us, not for my choice of activity.
DH: Well you just need to be more organised. Do that stuff at the weekend and you can do whatever you like that afternoon without the kids. [or something like this statement. I'm sure!]
OP: Well I don't have enough hours before pickup to do X activity then, and with DS's ASD, I'm never able to take him to the supermarket at the weekend, but it would work if YOU did the shopping every week. I also need an evening/4 hours at the weekend on a regular basis to get out and do ONE thing with friends.
DH: Well yoga class.
OP: Good point. By the way, the yoga classes are all open again, but they are at 6.30pm instead. It's great that you've suggested I restart, I really appreciate your support. To get to that class every Xday evening, I'm going to need you to cook dinner and do the kids bedtime so they are asleep and there's some dinner waiting for me when I get back.
DH: har har har
OP: Well, really. Think about what would happen if I had to go into hospital for an operation for a couple of weeks. You're X years old. I can't really have you not able to cook a meal and put your own children to bed, can I? What kind of a wife have I been if I haven't given you the skills to stay alive without me!?
DH: Well you could make double dinner the night before I suppose. I'd get my Mum to come and stay with us if you went into hospital.
OP: Well that's not a very rounded suggestion is it? There are men who cook meals all the time. You can watch them on the telly and everything. And DD would love to spend some more time with you. She's soooooo good at reading now. She'd love for you to do bath and bedtime story with her.
DH: But she always comes to you, she doesn't really like me.
OP: Well we need to do something about that don't we? What kind of a man are you if neither of your children want to spend time with you? I've failed again by not letting you build a strong enough relationship with them. I tell you what, let's start this Sunday. After lunch, I'll go out for a walk and a coffee with [friend], and you can play a board game just the three of you. Then DD can read to you while DS finishes his homework. I'll be back by 5, then I can show you how to make [simple meal] so you're able to do that again next Xday night while I'm at yoga. I'll give you a cuddle while you chop the veg like you do to me....promise!
OP: Well only if I get a kiss for the cook as well.
Scene ends with happy, warm feelings and a stronger bond about rekindling your love over a hot stove, while DH adds new skills to his repertoire and you get to leave the house twice a week for some headspace.
There are ways around this without LTB @Milkminder - I'm sorry for hinting at that. I think looking up NLP and practicing a good array of positive phrases to win him over to your solution, and finding a new path to break out of why he's not helped before, is the way to go. Good luck!