Remember if he puts his hands on you sexually when you have made it clear you don't want to be touched, that is sexual assault.
Don't be afraid of using your words.
He touches you continuously...a sex pest.
He touches you without permission despite be told not to...sexual assault.
He pressures you into having sex, rape and coercive sex.
He uses deeply sexualised language infront of your child to humiliate and bully you.....that is sexually abusing your child.
When you self report the above to SS, they hopefully will strongly support you.
Please also go to your GP and tell them the above.
Create a paper trail of his abuse of you and your child.
Make it very clear that his sexual abuse of you both is why you are leaving.
By all means tell them that he tries to gaslight you that all of the above is normal and that you are mad to object.
Spell out EXACTLY what he said that was the final straw.
I would be genuinely afraid of him having any sole custody with his child because of his sexual abuse of you both.
You can do this.