You know you don't have to 'win' an argument with him. All that means is that one of you is better at arguing than the other. All you have to do is say "this is how it is and if you don't do it, this... will happen".
Of course, to be able to do that, you need to know in your own mind what you want and what you are going to use as consequences. Sadly, IME men who feel entitled to treat their partners like domestic skivvies only understand one consequence - being kicked out.
That's probably not what you want to hear though.
On the positive side, if this is just a rut you've got into and you think you can change things, try reading Wifework by Susan Maushart. It will help you explain what you feel to your DH in a way he may understand. You could try rewriting it in your own words and condensing it to smaller and smaller versions before discussing it with your DH. Even better, if there's any possibility that he will read it himself, get him to.
I hope I don't cause offence, but the overwhelming tone from your posts is not anger or even resentment, it's passivity. You sound like you've given up and just accepted that this is the way it is. That may be because he twists arguments so well, hence why I encourage you not to have them anymore.
Tell him sorry doesn't cut it. The damage has been done. Far better to not behave in a way that requires an apology. Every time he treats you like a maid, he kills your marriage just a little bit more. If he loves you he will take this seriously and want to make you feel like his cherished wife, not his unpaid skivvy.