@Chickencuddle I have just read all of this for the first time and it is heartbreaking. Please believe me when I say it is enough to end your marriage over, and in doing so you are doing the best thing for your children. It seems that you have got in the habit of trying to keep the peace and make sure that everyone else is happy, especially him, but you matter too. Right now, the first thing you and your children need is to be safe. You won't necessarily feel happy straight away when you are away from him, but you will feel safer and the rest will come.
I too used to think that if he didn't hit me, it wasn't abuse. It is. I just didn't know that there were other types of abuse. My ex used to pester me for sex too, and there were times when he would attempt to overcome every objection I raised e.g. I'm tired - I'll be quick, I have my period - I'll put a towel under you etc. No matter what I said he would continue to try to get me to agree. Now I look back and I wonder what sort of man wants to have sex with a woman who clearly doesn't want to.
I was in a much stronger position than you, I worked and had a good income. It was very hard to explain to people why I had ended the relationship, as it is very intimate and even if I was open about it they didn't get that it's not okay. The friends you have told are the same, they haven't lived through it and cannot imagine what it is really like to be sexually abused. They mean well, but they don't know. That is something you will have to accept, but you have lots of support here and at Women's Aid.
I am thousands of miles away but if I had the means to rent a home for you and your children and get you started on your new, safe life, I would do it in a heartbeat.