Another book to read is "the verbally abusive relationship, Patricia Evans. It explains that the dynamic is based around the need for power and to win. The issues are not about vegetables (as you and he knows) BUT you asserting yourself.
He doesn't want a mutually beneficial relationship. That's the hardest thing I found to cope with because we could have had such a great life HAD he been able to accept I was deserving of equality. His mentality was "control or be controlled"
I'm sure he can be nice at times, that's because he chooses to be reasonable, equally he chooses to be unreasonable perhaps in relation to his mood, bad day at work, you appearing too confident. In reflection I realise Ex would become hostile if he thought I looked good or was too happy. The triggers are not manageable as they will change
Quite simply there is nothing rational about his toxicity and a healthy mind can't relate to it. I am now divorced and felt exactly like you. It is exhausting dealing with and until you are out of it, you don't realise how draining it it.
My lightbulb moment was when he involved the children and it was crystal clear that I was the target of his abuse. Outside the home he was charm personified.
There are deep psychological reasons why people act like this and I don't believe counselling is possible as from my experience his thought processes where too ingrained.
I persuaded Ex to go to counselling as he had an abusive childhood but he just used the sessions to confirm his victim status. If anything it made it much worse as made him realise he would have to give up complete control to stay married. At that stage he started to look around for my replacement.
My advice, prepare secretly if you leave. Don't assume he will be amicable leaving is the ultimate loss of control so they often punish by making separation very difficult. In my case it was through finances and court for residency.