OP. does your husband actually support either of the teams that were playing (Liverpool and Chelsea?)? The rest of my family are avid supporters of one of those teams, and it appeared to have been a particularly special match to them.
The interactions with your husband sound like they have been very bad for quite a while now, but a doctor diagnosing your husband with anxiety, and treating him with ever increasing medication has made you feel that your husband has been coping at least a little better? You are in this situation, I am sitting by my bed at 2.00am, and I (obviously) have very little real insight into you, and your family's dynamics, but I have impressions, and a very tiny bit of knowledge about mental health conditions (and "they" say that a little knowledge is a dangerous thing, which I think we all need to keep reminding ourselves about, especially if we are trying to give anyone advice on forums like this). So please, if you are reading this, and anyone else's kindly meant advice on here, take it as what it is trying to be, but not necessarily the correct knowledge or advice for you, your husband, and your family.
First of all my opinion is that medications for anxiety can only really help if they have either an overall dampening affect on one's emotions, or if they act as a placebo, in that they encourage the person they are being given to, to feel that they are being taken seriously, and cared about (which hopefully they are - placebos are often looked down on as being deceitful and harmful, and while you could, probably legitimately argue that they are deceitful, they are on many occasions, when used correctly, actually doing the person receiving them a lot of good, which can expand to those of that person's loved ones as well. Maybe that works because not only may the loved ones feel less helpless at being able to personally help their loved one get better, they may actually see a welcome improvement in their loved one).
I don't believe that tablets that can help increase one's serotonin levels, can be helpful if a person's only mental health problem is anxiety, unless it is as a placebo. My belief is that tablets to help one's serotonin uptake are mainly helpful for people with clinical depression, but then clinical depression, and anxiety, often do go hand-in-hand, and presumably your husband's GP won't discuss your husbands case with you unless your husband has given him permission. Do you know what tablets your husband is on OP?
Please bear with me as I mention Saturday's football match again. It does seem to me that on this occasion you actually started the rude, and indeed unfair interruption of the football match. You may be like me, and not understand the passion with which grown adults can love a sport where two teams of people are kicking a ball about, and if one team scores a goal, half of a football stadium and presumably a lot of that teams supporters at home, suddenly all roar in unison (and maybe jump up punching the air excitedly), whilst the other half groan, and maybe put their heads in their hands, and are genuinely miserable - none of that is acting, they really do feel that passionate about their team?
Others may feel just as tense and passionate about watching Formula 1, although there are usually less occasions for passionate outbursts, but an awful lot of behind the scenes reading up on everything to do with the sport, both during the season while it is running, and even during the smaller season when the races are not running. Maybe you feel passionate about watching tennis OP, especially Wimbledon, or horse racing on the flats (sorry but I think steeplechasing is extremely cruel, so I cannot equate that with a positive passion, as I passionately hate it)? Anyway, hopefully you see where I am coming from, you just don't interrupt someone who is engaged with their passion, unless it is an emergency situation.
You were quite capable of taking your DC or DSC and or the DGC home on that occasion, but presumably because you don't understand your husband's passion for football, you thought it was not only alright to interrupt him when he was at least enjoying watching something, I presume that you can understand someone enjoying something (which is OK too, if I am deeply involved in a film, and somebody interrupted me to insist I did something that they could perfectly well do themselves, I would be pretty pissed off too, and I can't think of any film that I am actually passionate about)?
So, you told your husband who was engrossed in his sporting passion that he was talking to you like a twat, and he said you were behaving like one (and sorry OP but I think you were behaving like a twat on that particular occasion), and you were embarrassed that he talked to you like that in front of the children and Grandchildren, were they not there a few seconds beforehand when you talked to him like that? If they were, then at the risk of sounding like a 7 year old, on this occasion, you started it. You then went on to threaten to stop him from continuing to watch the football, which not only will have embarrassed him greatly, because you were actually talking to him like he was a 7 year old who you had power over, but you were also already stopping him from enjoying the football by moaning at him, and threatening to pull the plug on it. I am sure that if I had been in his position that I would have been "earth swallow me up" embarrassed by you, and very angry that you were ruining my limited time enjoyment of my sport.
Of course he shouldn't have even accidently pushed you (I think that both legally and morally we are allowed to use enough reasonable force to stop someone potentially taking or damaging our property, but in a husband and wife situation that probably isn't reasonable). He definitely shouldn't have told you to suck his dick in front of children, but I do think I am inclined to give him some leeway over the latter, as by the time any of us get that angry, and feel that unfairly treated, most of us as humans can crack a little and say something that we wouldn't dream of saying normally. So I think your husband was mortified too, but you don't seem to think that matters either?
I think that you have been deeply unhappy in this relationship for a long time, I also think that your husband has been deeply unhappy in it for a long time too, which by no means excuses his previous behaviour towards you, as you have described it. Of course I have no idea whether either or both of your relationships have been so unhappy solely because you two have not been getting on well, or whether there are deeper reasons for both of you. I suspect that from what you have told us here, your husband's unhappiness probably goes back to way before you were on the scene, and quite likely to his childhood.
He seems to me, from this tiny picture that you have been able to describe to us, that he might hold some deep resentment, confusion, and possibly a very low self-esteem. I think that as well as (or maybe even instead of - but not immediately) your husband needs not just medication, but some counselling. That counselling probably needs to be serious therapy, ran by a highly qualified mental health clinician. I presume that unless you can afford to go private that this would have to be set up through your GP, and unfortunately I believe that the waiting lists are very long, and maybe without your husband appearing suicidal or psychotic he might even struggle to get on to a waiting list - I really hate the way this country does not cope with mental health issues, and I find it very frustrating when good people like the Duke and Duchess of Cambridge talk openly about mental health issues, say there is nothing to be embarrassed about if someone has them (of course there isn't), and say they should come forward for the help available to them; there is virtually NO mental health provisions available on the NHS in this country! It breaks my heart that the help isn't there, and what little can be found has to be fought for tooth and nail, by the very people who are usually far to vunerable to make that fight.
Back to what you should do now. As you are fully aware, that can only be your decision, and from your point of view, your happiness and well being are the important things here. You mention what sort of lessons are you teaching your children, they are all adults now, and if you think you have made some mistakes with, or in front of them, along the way (I certainly have with mine, one or two were very sadly massive, which I will always feel guilty for), then if you think you have the clarity to do so, you can talk to them about how you feel you should have acted, or reacted differently.
If you truly believe that staying with your husband is not right for any reason, then you must find as good a way as possible for you, to stop living with him. I do believe that you have both shown quite a lot of disrespect towards each other, but his towards you does seem to have been stronger, and has lasted longer, and even if the state of his mental health has been been a large contributing factor to his behaviour, you should only stay with him because you want to, because you believe that you can be happy in this relationship, because you believe it can be great again. You have both shown each other disrespect in front of the children, and for me that would not be the important deciding factor in this extremely important decision, as that is in the past and can't be changed, but it can be discussed. I think before you make any final decisions that it might be good if you can get some counselling for yourself, as you need to be sure that you are being honest with yourself first, and know what you really want. Good luck OP, I hope that you don't feel that I have been too harsh with you, that was certainly not my intention - you have been through a lot, and deserve to be happy 💐
ps. I have been writing this for nearly 3.25 hours now, so hopefully I haven't missed any posts from you, sorry if I have.