OP you show little understand of domestic abuse and guess what, most people do.
You're in an abusive relationship. Your husband grabbing your breasts and shoving his hand down your pants is sexual assault and it's a crime.
Chipping away at your self esteem, talking down to you, criticising you, stonewalling you etc etc are all abusive behaviours designed to enact power and control.
You said yourself that you are miserable and living with him has eroded your self esteem - that's because you're in an abusive relationship with someone who despises you. He is putting in the bare minimum to staying the relationship and your bar is so low due to lack of self worth, you think it's all your deserve as you beg for crumbs.
There are so many red flags in your posts.
I have a few suggestions for you. First is to get some counselling for yourself if leaving the relationship seems overwhelming right now. Don't get relationship counselling as it's never advisable to get counselling with abusers. Just get counselling for yourself in order to raise your self esteem. You can check out BACP for therapists.
The second suggestion is to gather information on separation and divorce. You don''t have to divorce, just work out what will happen if you do. You can take a look at the CABx and Gingerbread websites which are very comprehensive and have all the information you need. Gingerbread has an advice line you can call with any questions.
Another suggestion is to have a think about being less isolated. Move back to where your family are or somewhere you have a social network because isolation is a killer and when you only have an abuser to reflect you, it does untold damage.
Btw, most people thrive on kindness, love and positivity.