God help you OP.
Your denial is palpable.
Your husband certainly does not love you deeply.
His priority is himself 100%.
That he clearly chooses to disbelieve and doubt your word tells you everything.
Your highly abusive FIL deliberately tried to get into your home, and probably could have assaulted you, yet your husband calls you a liar on these facts.
His denial that your FIL deliberately targeted you when you were alone tells me he is bullying scum.
This would be a police matter if you weren't so ground down by your disloyal gaslighting husband.
You don't want him near you and are angry because your gut is screaming at you to protect yourself from your husband and his family.
His denial of the truth means he conveniently thinks he can call you a liar by default.
I cannot imagine the stress you have been under for years.
I would strongly suggest you call Womens aid, because you are in an abusive relationship with your husband and his family, and that you get some counselling.
Get that video bell and consider ringing 101 to report his father trying to push his way into your home.
You probably won't do this, but the best way to deal with bullys like him is to involve the police.
Get advice from Womens aid.
God help your children being raised within such a family.
Would you like your children to have inlaws like yours? A spouse that makes them feel they are going mad?
I would be devastated for my children to marry into such a family.
Listen to your gut, its screaming at you that that soul mate you mention is not a good man at all.