Why do you love him?
He doesn't share your interests.
He doesn't enthusiastically share or help to facilitate family days out with you and your DC.
He won't take responsibility for his horrendous diet, and in fact blames you for it.
He finds spending time with you and the DC boring.
He refuses to compromise on time spent away from home.
He is happiest when he is gaming and eating at home.
He won't even carry beach stuff for his very young children!
He is selfish.
I think you THINK you love him, but it's actually just a habit to say that - that's how you USED to feel.
I think the only reason you say you've had a happy marriage is because you got love, companionship, fun times with your DC, and affirmation from your lovely mum (so sorry for your loss), so it didn't matter that your DH was so awful.
She's left a huge gap, and DH isn't even beginning to fill it. You are coming to the realisation that you have no reason to stay with him.
BTW, I would suggest his awful diet of junk and convenience food, which is full of sugar, salt, and chemicals, is massively contributing to his insomnia.
Not that he's prepared to do anything about it.
So what if he's "offended" if you all want to go out without him? Tough shit!
Please, OP, really take a long hard look at your relationship, and see it for what it really is.