We’ve had joint counselling which was just another opportunity for him to rant angrily.
Well done - you did better than many actual Counsellors, spotting that.
Please never engage in any joint therapy with him again. Professionals recommend that when abuse is present from one party, couples counselling must be avoided.
You already know why! - but a disturbing amount of people don't get it.
Your DH is an abusive twat. I'm already convinced he's guilty of being all the things he called you - was pretty sure of it by line 3 of your post FFS -
“shut that fucking baby up”
Nope.
Unacceptable. Disgraceful. Frightening for the baby & DC.
I hope you are already feeling too much contempt for him to be actually frightened of him yourself OP.
So ... because anyone with a strand or moral fibre will agree that DH is a dick - may I ask about the practicals?
Rental or mortgage? Both your names on tenancy/deeds?
Work - are you on maternity, when do you plan to return to work? What does he do, how demanding is his job?
Residency with children - is he likely to demand 50/50? Will this just be a controlling gesture, or is he actually capable of parenting them? Will his working pattern allow for that?
Finances - how hard will it be to fund another home for one of you, or to sell up, (if houseowners) realise equity (if any) & have each of you start again?
Will you be able to afford to do that in you current area, i.e. keep the kids at their current schools?
Spend some time mulling this lot over OP.
You might find it seriously increases your ability to cope with the emotional difficulties of living with an Angry & Controlling Man (TM)
www.amazon.co.uk/Why-Does-He-That-Controlling/dp/0425191656?tag=mumsnetforu03-21

You don't need to tolerate his abuse for much longer OP.
You sound level headed, practical & tough-minded. Very happy to virtually hand-hold while you go through the process of assessing how you get the best out of a break-up - because this man is not "fixable".
That "shut that fucking baby up" is Bill Sykes levels of nasty.
Of course, it would never occur to him to pick up, soothe, & love his own baby, would it?
Apologies OP - but if it walks like a cunt, & acts like a cunt - it's a cunt.