Nothing you have said seems to be an insurmountable problem. In fact in some ways your DH sounds sweet. I wish mine would apologise after a row, instead of always insisting he was in the right.
Sexually inexperienced sounds nice too - like he was waiting for someone really special - you.
If he is doing childcare, perhaps you should let him do it his way, as long as she is well cared for and happy. TBH a lot of men wouldn't want to go to groups where they would be the only male, and would probably sit on their own for the duration.
He doesn't sound controlling, or as if he is expecting you to be submissive.
Surely you can work on the rest?
My DH has some horrible habits. He eats with his mouth open, talks with his mouth full, washes pans in the (dirty) sink. I have some too, like sniffing when I have a cold, and not always putting my hand properly over my mouth when I cough or sneeze. We both try to be more tolerant, and to make compromises.
Oh, and I only ask DH to visit my parents at Christmas.