Agree with Kendoddsdadsdogsdadsdead
"It's never too late.
Do not sacrifice your own and your daughters happiness, for this abusive arsehole.
You have a right to have the best life you possibly can.
Do not waste any more years on this scumbag"
Also agree with maddening
Getting a full time job would be a start.
Half of everything is yours, get a ft job so you can get a solicitor, start making plans, getting ducks in a row.
Is there a spare bedroom? Even if you have to make up a reason eg back pain, so need to sleep alone for a while, will make it easier to get your own space.
And refuse any further sex."
Speak to a solicitor too.