OP,
A lot of posters here are angry on your behalf, because it is horrible to read about women being controlled and lied to in this day and age.
But the posters here are not living your life - you are.
Yes, your marriage is not equal, but you decide when and how you will take any action. You have low self-esteem. Don't let anyone here bully you.
My advice would be:
Don't rush. No need to push things with him and cause angry scenes. Go at your own pace. Take time to think.
You absolutely have to make sure you don't get pregnant again. See your GP about your options - this is the one thing you have to do very urgently.
Then - accept that he wants to work all weekend, so doesn't want to spend time as a family. There is nothing you can do about this. You can't force a man to spend time with you or the DC.
Then - try to get more money for yourself, either by reducing what you give him, or getting him to pay for more things, or increasing your work.
You don't need your DH permission to increase your hours at work - providing you can sort out childcare, or if you only do nights when he is at home anyway.
So sort it out with your employer and just tell him it is happening.
Don't ask - tell him. That is part of getting more equality and self-esteem.
Then, when you have more money, learn to drive.
You are legally married, so all his secret savings and all the house and his pension are joint. You are protected.
Don't worry too much about the mortgage and deeds - the situation is not fair and equal, but as long as he doesn't die suddenly (fingers crossed he is in good health) that is not something you need to sort out immediately.
You might be better off staying married than getting divorced with three young children. Only you can decide that.
Assuming you are not intending to jump to divorce, I would spend the next decade whilst the DC are growing up improving your own position.
Learn more about how the world works, including money.
Improve your career - study or do training. Think a few years ahead - will you want to eventually change jobs? This will be easier as the DC get older.
If you stay in the marriage, watch for little signs of inequality, those times when he treats you like a child or you treat him like your parent or boss. No need to cause arguments, just watch and notice and concentrate on growing your confidence in yourself.