I'm going to sound harsh, but it sounds like you both have issues that need to be dealt with.
You had hysterics becouase your dh had taken his own son in the car soemwhere rather than going for a walk locally? You complain becasue he didn't tell you? But you also say you only woke up at 12.30. SO you wanted him to wake you up, even though you said you needed to catch up on your sleep?
You ask about whether you should forgive him for hitting you. SHould he forgive you for hitting him? You did start it. I'm not saying that it makes it right, but you are both at fault - and both have a lot of growing up to do.
In terms of your orginal posting, it sounds like your dh was trying to make some moves back towards you, which you then threw back in his face. He's said hurtful things to you and you've said hurtful things to him.
It sounds like you both have issues with intimacy. It also doesn't sound like a healthy environment for your ds to be in, if there is an ongoing cold war between his parents.
You say you have tried counselling before and it didn't work. Why didn't it work? Did either of you get anything out of it? Did you not get on with the counsellor?Your dh went to separate counselling (for anger management?): did he get anything out of it? I know you say it didn't work - but did he think it was helpful?
It amy be that you need to find a different counsellor and go back over old ground - and see if this time you can make some progress. It may be that you need to see a counsellor on your own, to see if that might address some of your own issues - espcially if you are also dealing with depression.
You can't have a lifetime on ADS - but you also can't continue as you are.
If you both have a will and a desire to change things and move your relationship forward, then you will. As someone has said - you can't change him, but you can change the way you deal with him. Likewsie for him - he can't chage you, but he can change the way he reacts to you - if he ants to.
If neither of you want to, then yuo should be thinking of calling a day and not letting this toxic relationship damage your ds.
FWIW - I think there is a glimmer of hope - the fact that yuo've both been prepared to go to counselling bofre suggests that you both want this relationship to succeed.