Why don't YOU challenge him on his hand punching gestures (I mean, really!!! What an idiot!)
Your mother is not "non toxic" she is his primary enabler.
The only chance you have to stop this ridiculous behaviour of his is to Challenge it directly, if you don't confront it, you either have to ignore his behaviour or go no/lo contact
As for sending your dd down alone, you're making a mistake here. His behaviour and treatment of his wife and you is unacceptable, exposure to this will teach HER that this is what relationships look like.
You are EXTEMELY lucky yourself not to be in an abusive relationship.
Think lottery lucky.
The biggest favour you can do for your children is to show them that behaviour like your dad's isn't right.
Bet that scares you to the core, right? That's childhood fear, it's not real, just feels like it... You have to rationally push yourself through it to get through.
It may be that you do have to go NC or low contact with your dad, but your children's health, and yours, is more important than your dads ego.