He sounds like he’s deliberately turning every argument round onto you so that you apologise and he can continue on his merry way unchallenged.
If he wants to change, a few sessions of relationship counselling should be able to solve this pattern for you is that something you and he would consider?
If not, you must learn yourself to change the way you react / respond to him.
DH I’m fed up of picking up your stinky socks
rose you’re such a nag I hate it when you keep criticising me
I bet you would then normally jump in with
I’m not criticising you
Yes you are you said I have disgusting feet
No I didnt
Yes you did blah blah blah
And he’s now successfully turned the argument away from his behaviour and onto you and you’re now defending yourself.
Instead, get used to spotting the deflection argument and don’t enagage with it!
DH I’m fed up of picking up your stinky socks
Rose you’re such a nag I hate it when you keep criticising me
Im not discussing that now - I’m asking you to stop leaving your socks on the floor I’m not your maid
God will you stop going on about it
I will stop mentioning it when you stop doing it; it’s disrespectful and lazy
Yeah but you….blah blah
I’m not discussing that now, I am asking you to be more considerate and put your socks in the laundry bin. Thank you
And walk off with a satisfied flourish!