Not to reduce your situation to a story in a book/TV show, or minimise your dilemma in anyway, but reading your post made me think of an epidose of Tiny Beautiful Things, which is also a book.
In it, an agony aunt responds as follows to 3 women that wrote in along a similar theme, they all had individual stories of course but fundamentally they didn't think they should stay in their marriage and asked "Sugar" for advice:
"Dear Women,
I chose to publish your letters together because placed alongside each other I think they tell a story complete enough that they answer themselves. Reading them, it occurred to me that allowing you to read what others in a similar situation are struggling with would be a sort of cure for what ails you, though of course I have something to say about them, too. As Trying noted in her letter, I struggled with these very questions mightily in my own life, when I was married to a good man whom I both loved and ached to leave. Your letters brought me back there, to the most painful era of my life.
There was nothing wrong with my ex-husband. He wasn’t perfect, but he was pretty close. I met him a month after I turned nineteen and I married him on a rash and romantic impulse a month before I turned twenty. He was passionate and smart and sensitive and handsome and absolutely crazy about me. I was crazy about him, too, though not absolutely. He was my best friend; my sweet lover; my guitar-strumming, political rabble-rousing, road-tripping side-kick; the co-proprietor of our vast and eclectic music and literature collection; and daddy to our two darling cats.
But there was in me an awful thing, from almost the very beginning: a tiny clear voice that would not, not matter what I did, stop saying go.
Go, even though you love him.
Go, even though he’s kind and faithful and dear to you.
Go, even though he’s your best friend and you’re his.
Go, even though you can’t imagine your life without him.
Go, even though he adores you and your leaving will devastate him.
Go, even though your friends will be disappointed or surprised or pissed off or all three.
Go, even though you once said you would stay.
Go, even though you’re afraid of being alone.
Go, even though you’re sure no one will ever love you as well as he does.
Go, even though there is nowhere to go.
Go, even though you don’t know exactly why you can’t stay.
Go, because you want to.
Because wanting to leave is enough"
From what you describe your DH isn't even that nice to you, has no desire to participate in family life, and is very controlling.
But even without all of that context, what stood out for me is when you said "I've asked myself if I want to be married to this man for the rest of my life and the answer is no". I mean, really, what else is there to decide?
Wanting to leave is enough.