So your username was chosen carefully, eh, OP! It's a difficult situation.
Glad you came back, I thought I'd been heavy-handed the other night when tired and I know from experience how terrifying it is to post a thread about your own life.
Also when you do your own thread, you realise how hard it is to convey the actual organic detail of the whole situation. Online, everyone treats the "characters" you describe including you more or less like a puppet theatre, because we don't know the people involved so there's always a massive amount of projection.
Given those caveats, a few things strike me about what you've shared so far.
First of all, "previously controlling relationship" is an odd way to describe it because controlling people tend not to change their spots overnight, unless something really dramatic has happened (head injury? medication? 100% dedication to therapy?). For example, him describing you as flirtatious, when that's not your perspective at all, raises a red flag.
Second of all, no one is perfect, but the fact that your husband points out your "imperfections" is rather unkind. For example, I don't make an effort with my appearance either, but my husband doesn't care. He did once comment "Oh, I don't think I can let you go out like that," but he was doing me a favour because I'd just washed and towel-dried my hair without looking in a mirror and actually looked like Ken Dodd 😂 But to have someone critical of you in these ways is deeply undermining, it erodes you like a steady drip on rock.
For you, it might be interesting to unpick "I often can’t be bothered to play with my son" because you sound as though you have a good relationship with your son. Why should you play with him all the time when you obviously spend quality time together? When does your husband raise this as a problem? What reasons might he have for pointing it out (e.g. there are times when your son demands his attention and he'd rather you dealt with it -- that's a wild guess/example)...?
"I spend time on my phone ignoring others" suggests that you are bored with the company you're in. Does he mean ignoring him? I often wish that marriages had to go through a test every 5 years, ARE YOU BORED STIFF? and anyone who answers "Oh God, yes," is free to go with no questions asked. Relationships run their course, and life is precious. I was going to say life is short, but it is also unbearably L-O-N-G and teeeeeeeeeeeeeeeeeeedioussssssssss if you are stuck with someone you've had enough of. I think it's a shame so many couples spend 50-odd years waiting for the other one will to first so that they'll finally get a chance to live life differently. My mum is one of these, and my dad is now 93. I hate saying this about them because I love them both dearly, but it's true, and incredibly sad, and because of it I worry for them both all the time. I wish they'd both had a chance at finding real happiness.
Have a think about "I have a tendency to take over in situations and act like the only one who is competent" -- it may be that you are quite justified in doing that, and exasperated that you have to!
Obviously I have no idea, these are just examples of how you need to look under the surface of his accusations.
My point is. I’m not Perfect myself and I could easily leave and find that this was actually a good situation. I don’t have anything to compare with.
Well, I don't think it's a good idea to stay with someone who thinks you're unattractive so he's doing you a favour by loving you anyway. No, no, no!!! that's not what love is... as I eventually realised, in my second marriage 😉
I honestly think that breaking up a marriage is the most frightening thing we can contemplate, so the very fact that you're thinking about it means it's a really great idea. It must be, because we're not naturally inclined towards stress and upheaval. Something in your gut tells you to keep thinking about this, and I'm afraid it won't go away because your gut is right.
As for the "entire history of your adult life," of course it's sad to close a chapter. But then you have a chance to build a whole new history for yourself; and really I think that's what is egging you on, the belief (or at least the curiosity, the hope) that there must be more to Life. And there is. 
But anyway