So much love to you, OP. I was in an abusive relationship myself and my poor friends got so frustrated trying to get me to see sense. I can understand why you're struggling to leave. But even if you're not at a point where you can leave, you owe it to yourself, your child, and your dog to be honest with yourself.
Look at the behaviour pattern here. He does something awful and abusive, like sexual assault. You post on here for advice. You end up letting the abuse pass. Then you come back with another thread that doesn't even reference the previous abuse, as though all these incidents are separate. If other posters point out that they are all linked, and he isn't changing, you'll say something like, "But he's been great with me lately."
The obvious fact is that he can't be great, because he keeps doing these things. You're blocking them all out. I can see you doing it in this thread, e.g. by mentioning your partner's veganism as though it's relevant. You're focusing on any and every detail in order to avoid the things that matter: he's physically, sexually, and emotionally abusive.
You also need to consider the impact of this on your kids, especially your daughter. How are you going to feel when she grows up to believe her dad's treatment of you is normal? That this is the standard she should accept in a relationship? How will you feel when she's left with mental health problems to resolve later in her own life because her dad was abusive and her mum prioritised keeping the relationship over protecting her? I know it sounds harsh, but this is a reality you can't afford to ignore. If you're not ready to leave, acknowledge that, and make sure you're getting support from Women's Aid. But don't keep trying to convince yourself that things will get better with him, because that's unfair to both you and your kids.