Dear OP it was difficult for me to read your post as I saw myself in it. I have recently separated from my husband of twenty five years and the reasons are very similar to yours. I am not sure what brought us together all these years ago, anymore, but we too grew apart. He has a very difficult personality, he is first of all very selfish and self centered, he has poor communication skills, wants to be right and make decision for both of us, cannot compromise or give in, is rude and obnoxious, criticizes and puts people down all the time. For me, the last straw were kids, although i made sure that through our separation process I did not mention kids at all as I did not want them to feel responsible. But when kids were young he was the best dad. I used to say that the only thing he never did was breastfeed, but when kids started growing up, talking back and such, he somehow got lost, did not know what his role in their life was. He would pester them for the simplest things, but never sit down to talk to them like you would with grown person. Respect their opinion, ask about their life, their day. Kids started growing apart from him, avoiding him and I tried to help him by pointing out what he was doing wrong, but he would get really upset. He would say, "if they do not want to talk to me, I do not want to talk to them". Totally immature, totally wrong. As a father you teach them how to communicate with others, you do not copy their behavior. 
Anyway, I know that many women do stay with their men even with a lot worse kind of abuse that this, and I myself stayed for over two decades buy this is where I drew the line. My therapist asked me, " can you imagine spending the next two decades with this man"? That did it for me.
Also, when I realized that I could not even say "he is a good man", because he really is not. Not in my books. He does not empathize with others, does not like/want to help, gets really irritated if he ends up doing something for someone and expects a person or people to be really grateful, even if it was us, his own family. So could not stay with him any longer.