Oh dear. Except for his tidiness, which he might be doing passively aggressively to show you how you've failed, it looks like it's another one of those -
'Man meets woman. Man fails to tell woman that he has traditional, 1950s expectations of her and brow beats her when she fails to live up to his particular standards'.
I think a lot of women fall into this trap, often through no fault of their own. Their husband's often idolise their heroic mothers and do not appreciate when their wives demand more input (because if my mother did why can't you, sort of attitude). Their wives often feel unappreciated, left to struggle, and feel like they have become their husband's little wifey at home whilst struggling with their husband's increasingly dominant attitude.
The thing is, you're not going to get anywhere by framing this as him 'helping' you. NO. He's not doing you a fucking favor. You are not infringing on his precious time. This should be a TEAM effort.
Without knowing your husband it's difficult to accurately comment, but I think your husband isn't 'becoming' his Dad - he probably always has been like him in character but it's only now (when you just so happen to be married and are in a weaker negotiating position) that he's revealing that. He has most likely inherited some personality traits genetically from his father, and his upbringing and current circumstances are bringing them out.
He’s not arrogant, but at home he thinks he rules the roost and what he says goes
He certainly seems quite dominant and the army is extremely hierarchical. He seems to think that he is your boss and that's why you feel like you are a housewife instead of a valued, respected, cherished partner.
Lets have a look at your loves -
I love him (great, but so what? You've listed so many bad qualities that find it difficult to find enough substantially good things about him to justify you loving him)
He can be very good with the kids (Can be?)
He can be hands on (depends on the day) (again can be, and it's also unreliable as it depends on the day)
He tidies a lot (Great, beats a total slob)
He’s very playful with the kids (Wow - he enjoys the fun bits associated with parenting then, as do a lot of shitty husbands who aren't necessarily there when the going gets tough)
He’s very helpful and generous with other people (Great, shame that's he's not like that with you isn't it? It doesn't mean very much if he's not also like that with you)
He comes across well (well that doesn't really mean much if inside the relationship is crap. What good is a car if it has a shiny exterior you can show other people but the mechanics constantly let you down?)
He’s got good family values ( reaaallllyyyy . Is that what he says all the time vs what he actually does).
I find him very attractive
He’s the literal person I always wanted (had a crush on him throughout school) (why did you want him? Because he was handsome? Popular?)
We’re a family, 3 young children and I don’t want them growing up in a broken home (fair enough)
The though of really leaving him makes me feel sick (it will in a lot of cases. I heard somewhere it takes around 8 weeks for your brain to do most of processing that negative emotion and then it starts getting better)
We have some lovely times, lovely days as a family (How often are these, exactly? Are they dependent on a lot of factors? Are you sure these lovely days aren't massively powered on by you? Are you sure it's not your own positive energy that's lightening them up?)
He’s very hardworking and provides well for us, any overtime he takes it (It's great that he's hardworking, but some men work hard in order to avoid their wives and make sure they get out of the dull parts of parenting. Do do it to give themselves a bit of a break too - don't think it's necessarily all for you despite what he tells you).
Also, you suffer from anxiety and depression. Did you have this before meeting him? Have you considered that this situation is making them worse?