And it's almost impossible to find ways to change things for the better with a man like this, ime. I doubt he wants to change. By belittling you, he keeps control over you, and somehow proves to himself how 'big' he is.
My exH did most of the things yours does, did lots of 'little' things and made lots of 'little' comments that put me down, kept me down. None of his actions were obviously terrible - he never hit me physically, for instance - although he loved to berate me when we went out, in front of our friends especially. Just lots of things that hurt me, and if I complained, he said that I deserved this because of the person I was. And because part of me truly believed him, I put up with this.
One day I said enough is enough.
I was a sahm at the time, 3 under 6 (I childminded a little girl full time for 4 yrs). I told him firmly that he had to learn what my day was like, and have the kids for one day. To my surprise he agreed. When I came home, house was a tip, no laundry or cooking done, he'd played all day and done no jobs; he finally realised how busy and hard working I was.
The strange thing was that at that moment he stopped moaning so much about some things - like the house being strewn with toys - but found a whole new raft of other things to complain about. If anything, he became more, not less, unkind and spiteful.
And as I gradually became a (very little) more assertive as the kids got older, he became more controlling and nasty.
Like you, whitelight it took me years to realise how abusive this relationship was, and my revelation only happened a couple or three years after we separated - that's how strong his hold was on me 
No wonder you feel anxious about him coming home.