Haven't read all the replies but I have read all you updates OP.
My opinion is probably unpopular here but I actually don't think your husband is in the wrong.
"st to break it down, he pays everything on a house we bought (I contributed 6k of savings towards deposit) - mortgage, rates (NI), insurance, utilities, food, he runs a car, I currently don't have one, and all other clothing, toiletries, activities etc
He pays me a sum every month"
So you've said that he pays everything from all the bills to clothes/toiletries etc, he offered to buy you a car and gives you money every month for yourself. I don't think it's wrong for him to want the money that he has left to spend on himself.
You've also said that he is happy for you to back to working full time and he would cover childcare costs, you have chosen not to because you don't want to put your DD in to childcare full time. This is your choice, although most parents don't want to, they do it because they need/want to work and have that independence of working. You are making the choice not to work, therefore earning less is your choice.
"It is my money, he doesn't ask for it or see it as his"
You've also said that any money you have left from rent on your house (albeit not much) and money from your wages he doesn't ask for it or see it as his at all so he's not being financially abusive, it's not as if he's just saying his money is his but yours is both of yours, I don't think he's being unreasonable with that.
"He's more careless with money than I am (not to any irresponsible extent I should add) .. I'm very frugal and he doesn't want his spending examined and criticised."
In all fairness I can see why he wouldn't want you criticising his spending, he's made sure all bills are paid and given you money to spend as you wish aswell as bought clothes/toiletries etc so I can see why he would want to be able to spend the money he has left on what he wants without you telling critiquing that.
Me and my partner have separate bank accounts, never had a joint one, our bills are all paid every month and after that his money is his to spend on what he likes as is mine, neither of us ask eachother what they've spent or on what.
To be honest, you say you're uncomfortable not knowing what his remaining money goes on but you've also said that you don't think he has much to spare after all bills and you've said that you're not worried about him spending it on anything wrong ie drugs/gambling etc, so I'm not really sure why you would feel uncomfortable.
I may be wrong but when people are saying your husband sounds controlling, I would argue that actually you're trying to control what he spends his money on as you've already said you would probably criticise this. If this was the other way around and he was doing this to you people would call that abuse and controlling.