"Of course children usually want to maintain the status quo with their parents being happy, living and together.
They do, however, get used to a new way of living if both parents remain civilised and can compromise as co-parents, living separately, where the care, routines, needs and feelings of the children are concerned. (Sorry OP I can't see if you've said the ages of your children).
A long-drawn out and emotionally charged separation is good for none of you."
This. It may be difficult for your DC at first if you separate but in due course they will be absolutely fine and I'm not at all sure they would be fine if you tried to restore your marriage.
Your H has smashed your marriage to smithereens, with an unbelievable degree of destructiveness. It seems to me that any attempt on your part to remain in the marriage and patch things up with your H, even if it could be done, could only be done at an unacceptable cost to you and would involve an unacceptable level of violence to your feelings, your self-esteem, your sense of yourself and so on. The price is too high. And your DCs would end up paying the price, too.
You sound like a terrific person. I'm sure you will be able to build a lovely life for you and your DCs after separation. And as PP said, when the DCs are with your H, you can start building the life you want for yourself.