Hi OP
I just want to send love and hugs your way. I read every post you said with love and understanding. It's not easy being in an environment that you feel uncomfortable in. Someone constantly picking and bullying you, the kids, not helping, expecting you at their beck and call, don't have 5 mins to yourself all day, have to be ready for sex 24/7. It's not nice and I pray you to have the mental strength to deal 2ith with this.
I think you are very strong to put a smile on your face everyday and keep going, I'd have probably broken down by now.
OP, continue talking to WA and learning more about domestic abuse and its many different ways. I know at the moment you're struggling to put a finger on what is actually happening and how to define it.
But the fact that you're uncomfortable, have jokes said to you that aren't funny, bullied, no help, tip toe around his feelings and emotions.
The fact he changes his mind as soon as something is going well (ie when you all went for a walk and he wanted to go home as soon as it started being fun) is a control thing. It's not about what he is asking, it's that he needs the world revolving around him.
The change in attitude suggests gaslighting... Every time you say he's done something then later on, he's "nice", you doubt your original feelings and thoughts.
He's your husband, he's supposed to be nice to you! He doesn't get points for that. He doesn't get a pass for his behaviour because he hasn't hit you or hadn't forced sex on you. He's your husband and your well being should be his priority. That it isn't, is reason to leave him. I feel like something could happen to you tomorrow, and his first thought would be "oh who's going to make lunch now?" he really doesn't care.
Don't mistake not being violent for loving you.
You also mentioned that you don't want to upset your kids if you leave. But considering how much he shouts at them for food, splashing with water, constantly taking things personally and expecting apologies, as if being a child is a personal attack on him, makes me think they probably will be relieved not to see him everyday. They are young and still don't understand what is happening, but they will, and your desire to leave (if you haven't already) will be stronger at that point when you see it affect them. And they think it's normal for a man to grope you without permission.
OP, please look after yourself. If you're not happy, leave. He doesn't need to punch you in the face for you to have a "reason".