OP, you have said that both you (and you think him) have been affected by your respective childhoods (him to become an bullying, controlling abusive rapist.
, and you to have learned to normalise and accept his appalling treatment of you and your children.
)
And yet, even believing this, you keep saying that YOUR children, growing up around what he is doing to you and what they see is happening, are not affected?
Think about that, and how YOU were affected by your childhood circumstances.
Do you really, truly, honestly think that what is going on is not affecting your children? That they don't see, or know, or absorb at least some of what is going on around them?
Honestly? You were affected, but a similar situation won't affect them? Really?
Is this what you want for your children, to grow up and continue with this cycle of abuse and being abused?
I don't think it is, I don't think you do.
Please, get out as soon as you can covid allowing, and stop making excuses for him.
He's an abusive, controlling rapist and he is NOT kind, or a "good dad", just because very occasionally he is not as awful to you and the children.