OP, several of your posts have said things that make me think you're afraid to be on your own, without a romantic relationship. Is this the case? Can you articulate why this is?
It sounds like you tick quite a few boxes for co-dependency. This is usually something that starts in childhood and is often caused by a parent emotionally neglecting your needs:
myonlinetherapy.com/what-causes-codependency/
This is definitely something to discuss and explore with your counsellor.
Please have a think about how your children are growing up. Right now, you are showing them every day that it's okay to be abused. That it's okay for your partner to treat you with contempt. That relationships aren't loving and respectful.
That's what your parents showed you, and that's what you've accepted as normal. It's not normal. It's not healthy. It's not right. And you - and your kids - deserve so much more.
Picture this in a few years time when your children are late teens or young adults:
Child: Mum, dad told me every day that I was stupid, annoying, and worthless. I feel like a shit human being. Why did you stay with dad? Why did you let him keep abusing us?
You: Well I was afraid of being on my own.
Doesn't sound great does it? The reality is that by trying to "protect" them from his abuse, what you're actually doing is enabling them to be afraid and hurt on a continual, daily basis. Please do not underestimate the damage this does to a child.
Absolute worst case scenario if you leave:
He will ask for, and get, 50/50 residence. Your children spend 50% of the time afraid, hurt and walking on eggshells, but the other 50% of their time in a happy, calm environment where they are told and shown how to love and respect people.
In reality, as a PP said, it's very unusual for men like this, men who hate parenting, men who find their children annoying, that he will stick with 50/50, after an initial attempt to use it to control you. He will let it dwindle to EOW (every other weekend) because he is Far Too Important to do the day-to-day work of parenting.
Contact may well eventually dwindle to nothing, which would be a positive thing for your children. Do not fall into the trap of thinking that any father is better than none. Because they don't have a father, they have an abuser. (Just as you don't have a husband, you have an abuser.)
I can tell that you don't feel strong enough to leave yet, and that's okay. It takes time and hard work to accept that what you've known all your life is not healthy, and that it is damaging you. Keep seeing your therapist, keep working on it and challenging your own subconscious beliefs - I think the primary focus here should be on your belief that being alone is impossible and that you aren't capable of meeting your own emotional needs without a third party. You absolutely can learn to do this, and you deserve to do this. You are worthy. You have worth. Please don't listen to anyone who tells you otherwise. 