So I am with a guy who was married to a narc for 14 years.
He got out 2 years ago, he didn't even know she was a narc till I pointed it out then everything fell into place for him.
I will say, it's a long road and she will try to tear you down for the rest of your life.
Absolutely divorce her, leave now if you haven't already. Get the kids 50/50 although she may try to stop this. She will certainly try to claim you hardly have them so she gets more child maintenance. Google tracks your movements so you can prove when you picked up or dropped off.
You need to provide a loving home for your kids so they always feel comfortable and happy with you. Then as they get older and see the contrast between homes, they can actually request to stay at one parents more than the others cafcass are involved in this.
The most important thing is that you reduce contact to her to bare minimim, provide a loving home for your kids and expect a long difficult path and for her to try to shaft you and bad mouth you at every opportunity.
Good luck, and always take the higher path and don't sink to her levels to retaliate.
And watch out because you might go from the frying pan to fire. I have had a physical abuser, a financial abuser and a coercive controller and they all operate differently so it's hard to spot.