Whatis Ohh you poor sweet girl (((hugs)))
I started reading this thread last night and had to come down early to finish reading....you were in my thoughts.
You've had some amazing advice and support here....YES 600 internet forum ladies agree with and support you! I admire your honesty, warmth, sense of humour and deep down your strong heart...IT IS THERE!!
The reason I am posting, is not to add further to the advice (how could I?!) but to tell you that almost exactly 2 years ago, I walked out on my long term partner, our home, our dog.....everything.
He was a controlling emotional bully too, always stressed, always tired, always unsatisfied, criticised my friends and family, criticised everyone in fact, weird lies, weird in bed, isolated me, had unresolved childhood issues, hit the dog.... etc.
Deep down inside him was a lovely, tender caring man who adored me, but who I finally realised was never going to break that mould.
In fact I realise that even really bad people often have a soft heart deep down. Pretty useless if you only see it so rarely.
It broke my heart to leave, he offered to get counselling, opened up, started being honest, all the things you are describing. It was very confusing....
But my simple response was: OK, I'm leaving, if you seriously love me, prove it, learn to let me go, get your bloody counselling and stay in touch.
Needless to say, the counselling came to nothing, I moved out, he wept and wailed and professed regret and love.
That was 2 years ago........
As I sit here typing, I'm having occasional hard kicks from the baby I am carrying, due in just 2 weeks with my wonderful new partner. 
We met 2months after I left and OMFG I AM HAPPY!!!!!!
Not walking on eggshells, not feeling low and confused all the time, just enjoying normality.
I have a f**ed up family background too, low self esteem, alcoholic parents, my ex preyed on all of that, focussing on my weak points to get control....once you see the path out though, you can grow so much stronger.
ITS ALL OUT THERE WAITING FOR YOU!!
I'm 37 honey....nearly lost my chance, but realised just in time that you only get 1 bloody life, take chances....enjoy it! xxxxx