He just has developed behaviors that are not conducive the lifestyle I want to live.
No he hasn't "developed" them, he has always had them or at least for many years.
behaviors are not an intrinsic part of who you are.
Oh yes they are. Sorry!
Human behaviors are malleable
Only up to a point, especially adults. He is who he is and he's not going to change very much.
He claims that I misread his reaction, but I can't imagine a universe when his behavior/reaction/expression could be understood as anything but irritation and scorn.
I would read it as anxiety myself. Quite a few people respond irritably to situations that disturb them.
He a social delight. He has a phd. He's in a managerial position at work. He has no signs of symptoms of autism.
Except for this one
. I'm not saying he has autism, I wouldn't know or care, but this inflexibility and need for warning and planning is clearly a deeply ingrained part of his personality and he isn't going to start wanting to lead your flexible lifestyle any more than you are going to start wanting to lead his.
DH and I don't do spontaneity. We are fairly compatible on this, we do like going out but we plan together ahead of time and make sure all the "jobs" are done and we can both get very discombobulated if "something comes up" . It's a joke between us to be very proud if we do manage to do something without a ton of warning. And even if it was fun we still both need to de-stress afterwards.
He always told me that he's not restricting what I do, I can do anything I want, with a catch, it must be by myself.
Is that a deliberate catch or just a plain fact?
The worrying bit is where you say he resents you if you leave him at home or decides to come along begrudgingly.
I do agree with that concern. It doesn't necessarily mean he is trying to bring you down, but it might mean that. Or it might just mean what it means on the surface, that he really does need all this advance warning. The most you can really do is accept that you are very different people with different needs and see if he will accept the same, that you need to go and do things and he is to keep his resentments to himself, that he is not to come with you if he is going to openly begrudge and spoil the day. And try to find a mix of planning together and independence that more or less works. Don't expect perfection.
If he's really a nice caring bloke in every other way then do what you want to do, keep the roles that suit you both as ZetaPuppis suggests, decrease the grumbles by putting some alternatives (if... then...) into your Tuesday plans and otherwise let him grumble a bit and don't let it get to you.