You're absolutely spot on OP. If you told him you wanted to leave he would likely promise the world and it would last a very short amount of time before reverting back. My exH could barely manage an hour.
He sounds almost identical to my exH. It starts with the subtle digs, undermining comments, selfishness, etc but thankfully I stopped it there and kicked him out.
Luckily, emotional abusive is now illegal and you have the law on your side, which I didn't at the time, he and his friends just thought I was the asshole and he was a perfect husband
. Confide in friends, and speak to the police. It may seem like a big step but it is for your own safety.
He behaves in this way because, like you said, he doesn't like you. You can't move on from that. A relationship is supposed to improve both your lives from being in it. What else does he bring to the relationship that makes you want to stay in it. I think you'll find very little.
Please don't expose your DD to this image of what a relationship is, do this for her if you can't find the strength yet to do it for yourself. Get pissed off, you don't deserve to be treated in such an unkind way, you DO matter, you ARE NOT stupid. Show him by removing him and his nasty self from your life.
The feeling of relief when you finally get them out of your life is the best feeling on earth.