I was suffering really badly with anxiety
Op, given you've been being what I don't think is hyperbole to describe as mental torture for (?) years it's hardly surprising you're suffering from anxiety.
And of course, in his absolute belief that he's right & normal, he's encouraging you to seek counselling for "your" issues. The irony is phenomenal.
You're both delusional about why you are suffering from anxiety.
He thinks he's normal, OK etc and you've been conditioned brainvwashed and trained to think it's normal. However ots basically causing you a great deal of stress (and perhaps underneath you know it's not) and it's leaking out.
As I've said above, I know of a man who had not dissimilar behaviour to your h; he was mentally ill, he did not change, when his partner finally left him after decades of this type of abuse of her and their daughter, (who used to pitifully beg my sister to not go home when she had play dates with her daughter at her house) and he no longer had his conventional structure of partner etc around him, and most importantly no longer had control of the significant others in his life (which is the key with this personality) .... the fact that he was in fact mentally ill, became more and more patently obvious.
He could never change, and I did your h is any different. Your h would have to go for extensive, in depth ongoing counselling (with complete honesty and acceptance that his attitudes and behaviour are wrong) and evennthen, I'd have major doubts he'll change and stay changed.
I'll repeat what I said above; having kids with a man like this is tantamount to child abuse. If you'd like a family, you need to get out and try to meet another partner.
For your own sake you need to get out.
He thinks he's right, he's not going to change.