I think it is important to recognise that it has been very crap and not brush it under the carpet, at least to yourself. What do you think his reaction would be to you raising your unhappiness with his past behaviour at the moment or at some point in the future if things continue to go well? Not suggesting you do this (because there is a pattern of him reacting badly to you upsetting the apple cart and because you are simply giving him ammunition if things turn), but basically you are left trying to process what has happened on your own (and with your therapist).
Whether due to circumstances or character, you have lived through a period where your partner has been really quite mean and controlling. He has made himself feel better about the shit in his life by taking it out on you. He got you to a stage where you were so scared of his reaction that you did not see your mother for a long period and you had lost sight of what you wanted. You have stayed because you are a kind person giving him the benefit of the doubt (ie it was circumstances, not him), because you don’t want to disrupt your children’s lives, because you have nowhere else to go and because, this is totally understandable by the way, you want something better from him. You deserve something better from him.
So the very clear and consistent message your partner needs to be getting is ‘I am not putting up with that again’. It sounds like you have still got a way to go to being an equal partner in the relationship again (if you ever were one), but you are in a better position than when you started posting.
So my one nagging doubt here - how much time of yours is this talking taking up (are you getting enough time to do the things which matter to you?) and how often are you having to ask for clarification/leave the room etc (which is just another way of constantly being alert)? It still sounds somewhat wearing.
I am on the fence as to whether it was circumstances or character, by the way. I think time will tell. It was a shit way to behave, even as a response to circumstances and the message you really, really need to be getting from him, through his actions not words, is that he understands you are not his whipping boy when things get tough.
Have you got the next visit to your mother booked?