Hi OP - having a counsellor flag your realtionship as emotionally abusive is a very good reason to seek spearation and to ensure that it actually happens.
I don't know you or your husband but my gut reaction to an emotional abuser wanting to remain in the family home was "more manipulation". If his thing is belittling you, shouting at you, stonewalling you, gaslighting you and making you feel stupid/unloved/insecure, then he needs to be inside the house to be truly effective.
Please contact Women's Aid (www.womensaid.org.uk/) Someone will be along with the number soon but they have an online chat function and lists of organisations in yoru area. You have every right to call them, they deal with far more than physical violence. Abuse takes many forms.
Contact your local CAB or read up on your rights (UK) at rightsofwomen.org.uk/get-advice/. They will be able to tell you where you stand with residency, finances and custody.
If his name is on the mortgage/deeds/tennacny agreement, I am not sure you can just throw him out and change the locks but there will be advice on Rights Of Women about this.
Please know that you can also call 101 for any non-emergency. If you truly want him out for your health and stability, or if you think his behaviour has a negative impact on your daughter, you will need to establish a record of incidents (shouting, name calling, aggressive behaviour or posturing) before you can apply for things like a non-molestation order.
I know this sounds terribly scary and I am sorry if it is overwhelming. My cynical reaction to him staying in the hourse and "having nowhere to go during a pandemic" was that he is manipulating you and trying to guilt you into letting him stay, where he will continue to trample over your boundaries.
Also, homework reading: Lundy Bancroft, Why Does He Do That?
www.docdroid.net/py03/why-does-he-do-that-pdf
It contains lots of info on abuser profiles and the dynamic of abusive relationships. The more you read about it, the more you might understand his MO and therefore be better prepared to deflect him.
You have made the decision ot leave him, don't let him brow beat you into 10 more years of anxiety & eggshell walking.