Your DD is right op. You do need to divorce him.
The comments about the shoes, I had no idea some people never keep shoes in the hall. Mind blown. But as others have commented she has a system that helps her and having some shoes in the hallway in her home shouldn't be such a big deal.
Neither should you being able to choose programmes, or have a bath, or either of your children being able to be open about who they are and how they feel. (Personally I am definitely not homophobic but I am gender critical, but I'd still hope my children felt they could be open if they were experiencing any discomfort around their sex/body).
It sounds like you have enough joint assets that they could be split and you both be homed.
I think you need to think about, and linger on the idea of living in a house without all this control, tension and negativity.
I left my eldest's dad who was very controlling and just so rigid and miserable to live with. Once we split it was like a dark thunder storm had cleared and I could feel the sun on me again.
Go for counselling alone if you can op.
You said he wouldn't go and it's not recommended anyway as he's controlling and emotionally abusive. Go just for you by yourself, and it will help you so much.
Also: living with my eldest's dad has very much influenced how I approach my own ND kids (me and their dads are definitely ND, I was diagnosed as an adult, they haven't been but definitely are!). I do not let my eldest control our home. He does want to. Things like windows being closed, wanting only his shows on, wanting to keep every item he ever owns, etc. I don't let him! He can sit with the anxiety and discomfort of not controlling our whole family's lives and life with it. I feel this is very important as a parent of ND kids. The world won't bend to their will and I don't think the people they live with should constantly have to either. Living in a home together means give and take from all parties. Right now your home doesn't have that at all.