Let me put it this way OP, if your daughter came to you as an adult and said:
"My husband has raped me, sexually assaulted me, I had to go to a refuge with your grandkids to escape but he persuaded me to go back to him then he sexually harassed me and eventually sexually assaulted me again... but he says he's sorry."
What would you say to her? What would you advise her to do?
Because the longer you stay with this man, the more you are setting them up to replicate this relationship dynamic themselves. To be sexually assaulted by partners and feel responsible. To be frightened of partners and think it's normal. To expect a man to dictate the mood of the entire home by default. They are lambs to the slaughter, being primed to be victims of abuse.
And frankly, with the level of abuse he's dished out and the fact that he has previously wanted sexual contact with you in the presence of the girls, you should be doing everything in your power to leave for that reason too, and report his behaviour to the police. I wouldn't trust him for a fucking second alone with those girls.
He doesn't know he attacks you in your sleep... but does know he wouldn't attack the girls? Bullshit.
Your poor poor girls growing up in this environment.
Will you call womens aid again? You need to get out.