I would indeed take it that he certainly no longer loves or cares for you, if he ever did.
I am so sorry, because it must be very painful to see.
Sadly, your relationship is indeed abusive and his contempt is palpable.
Your children will absolutely be absorbing this and it will be their template for future relationships.
They will not have the words to explain the confusion it will cause in them, but it will change who they are and will absolutely seep into their DNA.
I completely understand that leaving sounds huge.
I don't think you need to rush into anything, especially as the children are so small.
I think you can indeed take your time to plan your eventual exit on YOUR terms.
In your place I would start accepting your marriage is over.
Start really emotionally detaching.
Start counselling to support you.
Start actively planning for a future without him.
Invest in your career, friends, hobbies, and your savings.
Send as little time as possible together with him.
Use seeing friends, hobbies and work
to divide up free time and childcare, so that you are both involved with the children, but separately.
In your place I wouldn't discuss anything, I would just implement these changes as peacefully as possible.
Do not waste money on expensive holidays, do them separately so that you both get a break.
Stop doing wives work.
Let him sort out laundry and food or at the very least carve it up equally.
Initiate zero conversation and tell him absolutely nothing about yourself.
Treat him like a lodger that shares childcare with you.
Remain calm and pleasant but indifferent.
If you can move into a spare bedroom it would be great to have your own space.
You can do this.
My friends sister did it.
She would no longer bring him to her family things either, told him he didn't enjoy them and take some time for himself.
Likewise, she no longer went to any of his family things which she had never particularly enjoyed either.
She effectively separated while married.
Unbelievably he was surprised when she told him it was over as he had thought they were getting on better as they no longer bickered.
She had simply ceased to engage.
She needed the time to get her head and finances in better shape.
They used mediation and it was a good eventually a good divorce and co parenting arrangement.
You deserve so much better than this.
This is the time to arrange your exit on hour terms.
Talk to close friends for support.