I'm realising little things but apart from forcing me to have sex I feel the rest are very mild.
Surely you realise that him not raping you is a very low bar. And the little things aren't little: groping you at every opportunity, filthy innuendo, constant demands for sex, telling you his friends' wives are always up for it, never leaving you alone...
I am doing what's best for my children by making sure...
As been said so many times, you staying with this horrible, abusing, dangerous man is NOT in the best interest of your children. How can it be? Of all the horrible instances you've described, one sticks in my mind: when he forced your tiny daughter to brush her teeth even though she was desperate to pee. This kind of thing is torture. It's the kind of thing that will teach your little girl to grow up to be fearful and constantly on edge - and accepting of abuse - LIKE YOU. Is that what you want? I'm going to be brutally frank by spelling it out: YOU are damaging your children by staying with him.
maybe it's just me all along. Taking things wrong and being too sensitive
It isn't you, you are NOT too sensitive. Indeed, you are accepting of abuse to an extent that is utterly frightening. Please, if you still need reassurance, at least read a book or 2 (especially Lundy Bancroft), and do the Freedom Programme. We understand that years of abuse, coupled with your upbringing, have conditioned you to accept what no woman who us used to healthy relationships would accept. Please believe the wise women of Mumsnet, please do.
leaving is a big deal and I want to make sure it's the right decision and make sure I'm informed
What more information do you need to be able to decide? Why, after all he has done and is continuing to do to you and your children are you still doubtful that leaving is the right decision? Even your description of him being nice makes my skin crawl!
Given your lack of support, leaving is of course a big deal. But are you really planning to stay and continue to put up with this horrible cycle of abuse, deal with your children's distress and nightmares, forever fending of him coercing you to have sex, constantly walking on eggshells while wondering when he is going to lose his rag next... This is no way to live and your children do not deserve this.
We all have just one life and it is precious. @Chickencuddle... can you step up and act, so that you can make your life and the lives of your children deserving of this gift you've been given. Be brave, and a better future awaits you.