You’ve been given legal advice from experienced council. They can see where this is going.
He is emotionally abusing your family yet your conditioned to believe you should be still kind to him and not rock the boat to much.
You are minimising
but that’s because he has got in your head so much you think it’s ‘not that bad’ . The saddest thing is your DS can see it but you still won’t.
At this point you are not being a self responsible adult or parent, your being a compliant wife.
I’d quickly book some counselling sessions in to they can try and unpick why you find it so hard to face the truth of your reality.
What is bad to you?
What limit do you have?
What is your ‘I’m going right now’ limit.
Does this guy have to physically hit you to get the message across?