Oh OP!
Well done for coming here to vent, I bet you needed that.
He's a terrible dad, you feel constrained from expressing that, but need a way of discharging the emotion - or avoiding the situation. As you manage perfectly cordial relationships with everyone else in your life, obviously it's not you, it's him - although that much is apparent from your description of your early life & his addictions anyway.
And in my head I'm just screaming why the fuck would I take any advice off of you, you haven't raised a thing in your full life fuck off. I have so much anger inside of me towards him.
What's the worst that could happen if you just let rip?
You're allowed. It's ok. Your feelings are as important as his - why should he get to carp & criticise, but you can't bite back?
If you think it would make you feel better, even just a temporary relief from the suffocating pressure he puts you under - do it! If he shouts back or tries his usual bossiness or DARVO act - so what?
www.banyantherapy.com/darvo/
God forbid I say anything though, he's such a defensive man, and turns it around on me and says I am attacking him if I disagree with anything he says.
You could tell him to fuck off, you're fed up to the back teeth with him, to leave you alone & you'll call him when you feel ready to deal with his shit.
You don't HAVE to.
But even daydreaming about the possibility will help you start to reframe this toxic balance where you tiptoe over his eggshells & he controls you by constantly telling you everything you do is wrong.
I suspect this habit of pointing out everything you Do Wrong is to give himself an illusion that he's fulfilling a parent role. That's not an excuse for him - it's fucked up - but maybe in his mind, 'being a dad' is about handing down knowledge & being the font of life wisdom. That might help you slightly with the reframing too. You could even point it out to him, along the lines of "Oy - stop telling me how to take care of my own dogs. You fucked off & didn't even manage to take care of me, how dare you instruct me on how to look after a dependent creature?"
There are a lot of techniques like Grey Rock, Broken Record that people with dysfunctional relatives who they feel obliged to see can deploy.
However ... I'm not sure that's helpful for you right now., Because that keeps you stuck in the "I must keep tolerating his bullshit, because I am obliged" camp. When really - isn't it time you started at least holidaying in the "not my fucking problem, arsehole!" camp?
What I'm driving at is the unfairness of this enmeshment. He abandoned you, but expects you to take care of him now. Listen to his rants, tolerate his overbearing 'instruction,' ferry him to appointments.
Instead of pushing back against that, you are internalising your rage - & that is so, so bad for your health. Mental health, obviously, but unexpressed rage is a major stressor to the physical body too.
But I don't know how to control this overwhelming anger towards him that is eating me up.
My dear - you are worried that you are too angry.
I am worried that you are not angry enough.
How about you allow yourself to feel these authentic feelings?
Really get in touch with them. Take a baseball bat to a pile of old stones in the garden. Find a remote spot & have a cathartic scream. Get a punch bag - or go to a gym & ask someone friendly, or pay an instructor, to teach you how to beat the crap out of it.
Your feeling of anger is not there to be suppressed forever. It will make you ill, & miserable. The trick is, finding a way to manage the anger, harness it for your own wellbeing, & allow it to leave you in controlled, directed bursts. Those bursts could be with the baseball bat, the remote screaming, the punchbag - whatever - the idea is that you learn how to feel your anger without fear, & control & manage it as the vital part of your life force that it is.
Once you are more familiar with being in control of that anger, you can even choose to direct it - safely, without losing your sense of self or control - right back where it belongs - at your deadbeat dad.
What your anger is telling you is "my body & subconscious is reaching its limit & one more ounce of pressure & I think I will explode."
That is good information!
Work with it.
I am stuck with him, can't go no contact as he has suicidal tendencies
Oh puh-leeeease ... 
I just bet he does.
Arch manipulators often do.
If he expresses suicidal ideation to you - your role is not to pander to it. Not to appease him, or reward his emotional blackmail attempt by giving him just what he wants from you ... your role is to ask him what he expects you to do about it, & refer him to a clinician.
YOU ARE NOT YOUR FATHER'S LIFE SUPPORT MACHINE.
He doesn't get to use threats of suicide to make you take care of him, to make you accept his bullshit, to make you feel guilty.
If he talks about actually making an attempt - NO DRAMA.
"That's horrible to hear dad. I hope you don't do it, but you need expert help with that, I am not a therapist & can't take this on board."
You then ring the police, & ask them to do a welfare check on a suicidal man. The cops will be well versed in this routine with pretend-suicide-threateners - they will assess him, & they will deal with the matter appropriately.
and I don't want him to be completely alone, that thought does make me sad.
You didn't make him be alone.
You didn't abandon him. Quite the reverse!
You didn't cause him to have no friends to turn to.
I suspect you have a touch of 'parentification' going on here.
www.parentingforbrain.com/parentification/
In short - it's FAR more important & urgent that you deal with this overwhelming (& perfectly reasonable) anger than it is that you deal with your dad.
You can go NC. You can go LC. YOU OWE HIM NOTHING.
He should be SO grateful that you even allow him in your life at all - but ... of course he won't be!
He's far too needy & controlling to be capable of self-reflection & responsibility for his own actions.
So what to do?
Firstly - discharge that anger on the regular - as per tips above, or anything that helps you dissipate the churning awfulness of it.
Secondly - get to know your anger. Learn to manage it so you can control it, & use it to your benefit. Like an expert soldier - the kind who knows how to control & then deploy aggression effectively, not randomly.
Thirdly - ACCEPT that it's ok to be angry. You are allowed to be angry, you are allowed to express it, & when it comes to your dad not only will it help you to deal with his nonsense, it will (eventually - he will push back initially) train him into a realisation that he if want to keep using your time, he needs to follow your guidelines. That would be things like "don't tell me how to manage my dogs" "don't tell me how to drive" "STFU about your problems, they are not mine to solve."
I'll be checking in later - (can you tell I have a highly dysfunctional parent myself?!) but want to leave you with a little daydream to try on for size:
Dad: You don't know how hard it's been, I'm all alone, you give me no time, woe woe woe me me me
Colt: Uh-huh. Can you pass the salt please?
Dad: but my life, I want, you must ...
Colt: Really? Do you want bread with that or just the chips?
Dad: You are not listening, you should pay attention, you never get anything right, why can't you just -
Colt: I've had enough of this. Shut up, I can't take any more moaning or bossiness
Dad: How dare you? This is the problem with you, you always -
Colt: FUCK OFF - SOFA SHITTER! GET THE FUCK OUT OF MY HOUSE & DON'T COME BACK UNTIL I ASK YOU TO
There you go!
Anger discharged - check
Situation avoided for X days/weeks - check
Dad now aware that there is a point beyond you will not be pushed - check