the people who are just saying leave or stay away or make a choice are not the people I'm asking for help as they clearly don't know what it's like to be in a relationship like this the people who have would know it isn't as easy as that
Nobody has said it's 'easy', they've said it's the right thing to do.
If you've been unable after all that's happened to leave him then unfortunately your children are best off in someone else's care, because you haven't shown that you can make decisions that would keep them safe.
While you've suffered great trauma, you had chances to engage with authorities to show you could step up and change, but instead you took him back and continued the relationship.
As harsh as it sounds and as hard as it is to hear, you did choose the unhealthy relationship with him over the possibility of a healthy relationship with your children. More than once.
You have lashed out a bit saying you don't want to hear from people who haven't been in an abusive relationship so don't understand. But you don't know how many posters have been in abusive relationships or how many of us grew up as the children around abusive relationships.
Rather than batting away the advice of people, take it on board and try to do what's best for the kids. Are they safe and settled where they are? If so, that's what's important. Not changing everything again.