I remember your previous threads - and posted on them too, though under a different name, and was concerned when you stopped posting.
To answer your question, there is no doubt about it that he is a sex pest, was a sex pest throughout your previous threads, and will continue onwards through your relationship to be a sex pest.
You ARE a reasonable human being to ask him to leave you alone. He IS AN unreasonable being to keep assaulting you, because that is what it is, every time he grabs and gropes you.
If you left him you could have peace of mind. You could lock your door and know that no one can come into your home without your permission. You could walk about, sit, play with the children, bathe, read, sleep, do housework, whatever ,without him grabbing, groping, assaulting, raping you. I hate to use that word, but that is what he is, a rapist.
Give yourself and the children the best Christmas/New Year gift ever - leave. Get those plans made. You did it before, you can do it again.
I know it's hard, I did it myself some 40-ish years ago. It took me 2 goes to make it out because like you, I was swayed by his sly promises. Sly because he never intended to keep those promises, they were just empty shells.
The sheer relief I felt knowing I could lock my door and live in peace was priceless. I wish the same for you too, but only you can give it to yourself.