Yes, and I wish you lots of luck. I will say now, it can take YEARS to sort everything out. But that doesn't mean it takes years to feel any better...
To cut a very long story short, it took 8 years for my ex to even start to leave me alone. Good job I didn't know that when I left! We (children and I) went to a refuge. Occupation order to get back in to my house. Non molestation order. Immediately filed for divorce.
For 8 years he: phoned the police to say I was hitting/starving the children. Phoned social services. They would drive round, check and drive away again.
I did some voluntary work in a primary school. He noticed a vacancy for a governor and applied. No one else applied so he was appointed. The school actually went to another governor (superintendent in the police) to try and find a way to get rid of him. They couldn't...
He took me to court 30+ times about anything he could conjure up. He went for sole residency and would send so many solicitors letters that sometimes 2 would arrive on the same day. He could get legal aid as he never worked once we were married. He hasn't worked since I left (2005) to avoid paying child maintenance.
He was a crap dad when he did see them. Unsuitable films shown, sent them home filthy and without vital things (like shoes) which I had to replace. Lots of emotional abuse like telling them about "suicide attempts" and showing them my engagement ring.
But! The children got older and their opinions held more weight. Sometimes, he'd decide not to see them for a year or 2. He moved in a heroin addict whose children were in care so my children couldn't visit for 2 years, until he treated her so badly that she left him as well. My youngest hasn't had any contact for 5 years.
I lived almost on fresh air for years. For the first 18 months, I had £15 a week budget for 3 of us. It was literally saving nectar points for the Christmas shop, accepting meals at relation's houses, eating foraged fruit etc. Days out were paddling in the river, camping in the garden and going to the library.
But there is no comparison with having to live with someone like that.