Your situation bears a lot of similarities to where I was at 3 years ago
My xh had become critical, sarcastic and cold towards me too and domineering is a polite way of putting it !He also had a drinking problem which had been present from the start but got worse. We did have a steady sex life but love and affection was limited to the bedroom. I spent 2 years having therapy and generally turrning myself inside out to be what I thought he wanted and never complaining about anything. I had decided that it must be me and my fault that he had withdrawn from me - I had put on a huge amount of weight and would cyclically have tantrums at how he was towards me.
Sorry I should add we were together 17 years with 2 DC who were 10 and 13 at time of split .
I was so desperate for his approval and affection and yes I used to look at other people and feel envious but I accepted I didnt have it and tried to focus on the positives in my life of which to be fair there were many.
Anyway the therapy gave me a bit of backbone and esteem and helped me put to rest some issues from my past and I then began to see that actually xh was really not very nice to me at all and that these 2 years of being kind of Stepford wife had made not a jot of difference to his treatment of me or his opinion of me.
However I did still love him, something which to this day I dont really understand. I couldnt face what I thought divorce would do to my DC and hands up was terrified of giving my financial security - I was a SAHM.
I often wonder if I had known about MN and read all the advice /stories etc on here I would have done things differently during the marriage but I didnt.
Anyway this time 2 years ago he told me he didnt love me and had been unhappy for years and that awful all round as it would be we should split up. In my initial panic I asked him to reconsider but oddly I quickly knew it had to happen and he was unhappy with me and from then on I never looked back.
Like all of us I could tap out screeds about the actual split etc but wont
The thing is I was 43 having been a SAHM and was terrified of the future on a practical level but actually after a few months that along with the feelings of rejection gave away to sheer relief that NOBODY ever spoke to me the way he did, NOBODY gave a toss if the gravy came from a jar...again I could tap out screeds of these things but you will have your own 
So over 2 years I have had an immediate OW to deal with, to move house get divorced and get a job and sadly for reasons you will all get for now its a NMW job and just get used to running my own life and bringing up my dc.
I feel like a different person, its not possible to convey how amazing it is to be free of a miserable controlling presence to feel like someone living an authentic life not hiding behind convention and the married label
The DC have been fine although I have been 100% committed to never slagging xh off and sounding supportive of him in spite of his behaviour with an OW which clouded our split and caused me a great deal of pain. To be balanced though he has been fair financially and we have access arrangements which work we never mess each other about . In other words we have both done our utmost to minimise impact on them.
Sorry Why this is all a bit jumbled and about me but I had to post after reading the thread because you sound so much like how I was and I suppose in essence what I am saying is yes start seriously thinking about leaving because that sort of daily toxicity is horrible for all of you and in my case life is full of joy again and I know he did me a big favour in leaving me !