You need some help but you also have to take some personal responsibility. Have you contacted WA, requested the Freedom Programme? If you get/have a non-molestation order, you have to stick to it. The police will be frustrated, because they don't want to see a woman being battered about and then keep going back to the man who does it. They don't want to think about those kids in the house knowing their mum is being hurt. Likewise with friends, they will no doubt be frustrated that you cannot do what is healthy, sane and right, but they will help you if you need it.
Your HV was probably stunned by the level of denial that you have, what were some of the reasons? Don't for one minute think she was condoning you restarting the relationship
Did you mistype this bit ?
"I kinda don't see how it harms my children?" It's considered abuse to allow your children to live in a home where domestic abuse takes place, even if they are not hit themselves. It is emotional abuse, it is neglectful parenting. He is a not a good man or a good father or a good partner. They will grow up to think abuse, either giving or receiving is normal.
You're right, you do need intense help, you need to unlearn what you have become so used to, but you have to start that. Nobody else can do it for you, that's what people are trying to tell you.
If you can't see a life beyond being with him, can you see a life without your children? Can you imagine what it would be like to have your 5 kids taken away, and any future children removed at birth, because that can and does happen.
What would help you stop this? Can you think what would help you to break contact?