I too think that your parenting style will ultimately show greater results.
Like you I followed a softly approach, one where I was happy to take my time, seemed happy to tackle a little at a time rather than bombard my children with endless demands. I set out carefully to convey how following a course of action was 8n their best interests. However this approach obscured the fact that I was instilling more than one value at any time, my objectives were not so obscured. I made it clear what my expectations were. How?
My expectations are very simple and very few. These non negotiable expectations relate exclusively to how they treat others. No name calling, hurting, stealing, murder, cruelty, telling lies, bullying, shouting, taking risks that could hurt others, no gossip, always be honest, and perhaps the most important which ensures all other values.....respect.
Everything else is negotiable, except it isn't! Because once they assimilate the right values into their thinking then having good table manners makes perfect sense to them.
I have shouted once at DS2, and a handful of times at DS2. They are 13 and 17.
OP keep at it, as you are. And yes I would leave a partner and parent on my own. Your husband is creating an oppressive joyless environment where everyone will feel self conscious, useless, unfree, and persecuted for the smallest thing. No wonder you are depress3d, you must be in a constant state of anxiety.