I'm sorry you feel so sad OP. I'm not surprised, given the detail you give about your relationship. To summarise:
1)Your dp does not 'respect' you. He does not support you. He is 'contemptuous' of you. He judges & criticises you. You feel 'powerless'.
2)He controls all discourse: you can't talk to him about anything: work problems, health problems, household practicalities.
3)He regards himself as 'a domestic & parenting God', if he doesn't do something properly, you are not allowed to mention it.
4)He controls what you watch, read & listen to.
5)If you stand up to him, (as your friend did to her dp) he stonewalls for up to a week.
6)You feel 'inhibited' because he's 'so superior'.
I think your partner's controlling behaviour is the key to the problems in this relationship. He is exerting an unhealthy level of power over you, to the point that is arguably abusive. He makes you feel despised and in the wrong.
You seem to accept this man's 'superiority'. Did you believe this when you first met him, or is this something he has persuaded you?
May I ask if you actually have mental health issues? Or has he told you that?
How was he in the past when he was nice & you got on well? What was the point at which he changed? Did he ever respect you?
Details about his behaviour suggest he may possibly be gaslighting you: first of all making out that you are 'flaky' and blaming your 'mental health' issues for the problems in the relationship. You may have mental health issues, but I don't believe they are the sole cause of the problems in the relationship.
Secondly, you say since moving house you sorted some of the children's stuff out & then he moves everything round 'in a way I don't understand'.. 'won't say why or where I should now be putting this or explain why it is better than you what I did'. And you 'can never find anything.'
You say it's 'not as if he's done nothing'. No: he's done worse than that: he's purposefully undone what you had done. For no other reason than to a) assert his authority & b) disorientate you.
I think he moves your stuff around for the same reason: so that you can't find it, so that it drives you mad. (It would drive anyone mad).
Chillingly, you say that in order to avoid rows, you feel you have no choice but either to a) avoid your children (which of course you will not do) b) inflict rows on them or c)
'be obliterated by this controlling behaviour'
These are three equally distressing options, no - I think the third is beyond distressing and into the realm of dangerous & unhealthy.
On the information that you have given here OP, I don't think joint counselling is at all a good idea.
He will continue his abuse of power in the sessions & he will use whatever you say against you.
I think it's vital that you have your own counselling sessions. You are obviously a lovely person, a great mum, trying to be a good partner to man who is irrational, implacable & impossible to negotiate with. I think you need to work on your self esteem, which has been eroded by this man, alone.
From what you have said, I do not think this relationship is salvageable because he is highly unlikely to change. You either have to accept his rule & be 'obliterated' or leave.