You know what, I agree with you @Saturday12345 . And I speak as a person with strongest boundaries and can be self-righteous (based on reality). However, my heart broke a little when Op herself stated she had all this in place pre kids and still doesn't iron etc etc but now she has kids and family to consider. OP didn't bargain for things turning out this badly!
What I will add, and have mentioned here before, is 'society'. I consider myself to be extremely lucky as I come from a very good family. In addition, as a young adult, my friends were older and were kind enough to be brutally honest about their marriages with me. They even liked to joke that: the fairytale books should end with: 'and they lived unhappily ever after. Equally those with good marriages shared. But those with seemingly god marriages where also honest to confess it wasn't all it cracked up to be.
Other role models emphasised the element of luck in choosing a good spouse and hope it turns out to be the case. Many many people make out they were cleverer in their choices when in many cases there is a strong element of luck.
Armed with that knowledge as a young adult, I put my ducks in a row: my independence (career, I have a profession I can pause and get back on it without problems), financial independence- yes, world my butts off to earn enough and invest whilst others were living it up in Ibiza; and then put in place the won't cook, won't iron ( a clever lady who was a pro at dating and married, warned me that with some men, the more you do at the start, the more they expect: so what she advised was to cook for them as a surprise so they appreciate it. When we got married and I was still adjusting I was clear to my DH when he mentioned cooking: I said I would hire someone 2/3 times a week (my share) and pay them myself. ironing- same; He does his ironing or I send it away and he pays.) He soon got the message and he cooks beautifully anyway and only eats one meal a day and likes to use air fryer.
With kids, I knew if things got tough, I would sell one of my investment properties whilst raising the kids which I knew would last 4/5 years of my contribution. I also have a family who I knew would drop anything so I didn't get 'sick' or become 'broken'. My those 2 things were my plan B as I had made it clear in my head that, I was never going to rely on another person (yes, spouse or so) for decisions that affected my health. My health has always been non-negotiable. I am also independently wealthy, have seen that divorce doesn't mean failure and I knew my family would support me 100%, so all that gave me confidence before any problems, that I could walk any day. Yup, my DH knows very well I can walk any day.
As luck would have it, DH turned out to be supportive, does even more than I do (70% across the board as he enjoys it too and accepts his parenting duties); he doesn't mind if I work on not- so my choice- and he insists on covering for the whole family; yet, he is also running a business that he hopes to turn into an empire but had good work life balance and pays staff.
My point being, at this stage OP, as one poster posted, workout what's good for you long term. Start drowning out (not paying attention to his put downs) his negativity and crack on doing what needs to be done. Trust me, when you pulled back some control from him, he will/ might just start to respect you. Yes, when Dh reaches milestones in business, he acknowledges that it was team effort- I am good as a sounding board and some items relate to my profession so I can comment- I am however touched he acknowledges that, even to his family, so I know he will say it when he makes it big.
My other questions to @icantfuckingwin were: Are you even intimate- I cannot think of m=wanting to be intimate with someon who thinks so lowly of me. 2> Do you think he loves being in the marriage as you do everything for him and you provide him with a ready made home or is he checking out as one poster feared? If he loves the set up and you know he won't give it up easily, then more reasons to put your foot down and start drowning his negativity away- you will at least not feel sick.
I am sorry you tried to put boundaries in place and once you got kids, (still babies I must say), it turned to this. You have 100% of my sympathy. This could easily be anyone of us. Good luck. Maybe speak to a therapist to workout what you want to do with your life. Good luck. I don't envy you.