God, you need to get really tough with him I think, OP. And you have 3 kids, and you are heavily pregnant, AND you've got SPD??! YOu really, really need to put your foot down.
I just don't buy all this nonsense about men 'not getting it' and needing a kick up the bum. They are just plain lazyand spoilt, and like little kids who have learned they can get away with doing nothing, with no consequences.OP, your husband is being utterly disrespectful. Sit him down for a serious talk, tell him this is not just about housework, it's about a basic lack of respect in your relationship.
If, after you've talked, things don't improve, tell him you are going to get a cleaner if you can afford it.
Stop running around after him. Stop cooking his meals, definitely don't do anything with his laundry on the airer, for heavens' sake, just do the very very bare minimum to keep things ticking over.
I am really sorry if that sounds harsh, but really, he is being a lazy sod and you deserve better.