He's definitely controlling and manipulative OP.
You should NOT ask him if you can go out with friends, you should tell him that you've made plans to go out, and ask if that works for him to look after the kids. If it doesn't then ask him what day does work, but do not let him stop you seeing your friends, just because he doesn't feel the need to socialise.
While to some extent I can understand him wanting to know where you are after the EA, I would tell him that if he's tracking you, it's got to work both ways, or he doesn't get to do it.
I would also sit down with him and go through ALL of your finances, so that you KNOW where the money goes. I don't say this just because he may be misleading you about the money, but so that if anything should happen to him, you know exactly what you have.
Do you both have the same amount for spending on yourselves OP? If not, I wouldn't be happy about that, as even if he earns more than you, he should want you to both have the same. I would therefore suggest that you work out what you can afford to blow each month, and then you each get half. The rest then goes into a joint account to pay bills, etc., and anything left over at the end of the month could go into a joint savings account and be put toward holidays, cars, etc.
I couldn't be doing with a man who sulks if he doesn't always get to do things that HE wants to do. Marriage and family life is about sharing, and taking into account what EVERYONE likes to do. As for him criticising the way you load the dishwasher, I'd tell him if he doesn't like the way you do it, then he can do it himself!
As for the grabbing boobs and bum, that would put me right off. Tell him if he wants sex he needs to stop with the grabbing, and try being more subtle, ie, caresses and hugs rather than groping you, and just expecting you to perform. Has he always been like this, or was he once more romantic, and caring?
All in all, it strikes me that the relationship is very one sided, with you doing all the giving, and him dictating how things should be. I wouldn't want a relationship like this, but it IS easy to slip into these sort of habits, without even realising it's happening. So I think you have a lot of questions to ask yourself OP.