I left. I came to dislike him for many reasons but they all boiled down to him being selfish, low empathy, poorly emotionally regulated and entitled. It got worse over time, so I wouldn't kid yourself that you might get used to it enough for it not to affect you.
I stayed for a long time because I felt I needed to put the kids first, but also because I could not get financially independent (due in part to him keeping me that way). I eventually found a balance that enabled me to leave.
Once I left life improved so so much. It hasn't all been smooth sailing, of course, and it can be tiring being the 'main' parent and juggling cost of living, especially when the ex likes to be a Disney Dad and buy his kids' love but has to be cajoled and coached and prompted to take care of his responsibilities (and half the time I end up just doing things myself as it's less hassle). It has not always been easy on the kids, and that is probably the hardest part for me.
But the peace is priceless. I no longer wake up already resentful, I don't have to deal with his impulsive and selfish decisions any more, I don't dread the thought of sex, there are no stupid arguments at every turn. I can have people over and relax and have fun instead of feeling anxious about what rude or self-aggrandising thing he might say, or how he would bitch about everyone afterwards.
My home is calm and cheerful, and I am a way better parent because I'm not constantly under stress and snappy. I get to eat how I like (not according to his very fussy tastes), I have the house clean and simple, as I like, rather than living alongside (and mostly caring for) his overwhelming amount of stuff.
The kids are happy, and also starting to recognise the differences between my place and his. For me, it's become so easy to see how chaotic and hostile he is, because the rest of my life is utterly different. I don't live with the chaos and hostility (and feel partially responsible for it) anymore.