He likes the idea of me being a sahp as his mum was
You aren't his mum though. You are your own person, except he's not letting you be your own person.
dh doesn't like me going to the Dr as they just give you tablets
Absolute nonsense and this is actually very harmful to you. How can he have your best interests at heart, when you can't see the GP. And they don't just dish out tablets.
I think the truth is that he doesn't the GP to explore what was really wrong with you, because he would be identified as the problem and you may realise and wake up to his control and abuse.
Take control of your own health and next time you feel unwell, book an appointment with the GP. You don't need his permission to do this and you don't need his approval either.
Do not let him isolate you from your family.
I am religious, as is my DH. We raise our DC in our faith and they go to faith schools. Religion is important to us, but my DH would not stop me seeing my family and try and disguise it as God telling him or as that's what he hears when he prays.
You need to say that when you pray, you hear "that you should feel free to make decisions to do what you want as a grown adult, without feeling controlled"
You simply have a man using religion as a cover for his desire to control you.
I spoke to a Social worker colleague of mine and she told me of a few cases, where religious men, who were vicars and church leaders, inflicted abuse on their wives over years. Don't ever think that being religious makes someone a good person, because that's just what they want to portray.
Slightly off topic... But as an example of what I mean a married man having an affair, told his mistress he was giving up sex with her for his lentin sacrifice.
You see how he made out he was a good religious man? And he also used religion as the reason for not divorcing his wife, because it would set a bad example to their children.
Because you've never lived an independent life supporting yourself, he seems like your saviour.
Do you get time away from your DD?
Can you get some hobbies out of the house?
Would you be able to go to the gym or join a book club if you wanted to?
I know that you look after your DD as a Sahp, but do you have any say over groceries purchased? Or do you deal with any say/control of the household bills or anything?
I ask, because these are skills you need and that are required for independent life.
My mum's friend lost her DH a while ago and she had no clue how to go about paying a bill or anything like how home insurance or car insurance was obtained.