OP you sound lovely but he certainly isn't.
The fact that your daughter has remarked on this should be a really HUGE RED FLAG for you.
She is watching her father being a belittling prick towards his wife.
I have two precious daughters, and I wouldn't want them seeing the message your husband is sending being so obvious that my daughters need to point it out.
It is not easy for children to point stuff like this out, that she has done so is really huge.
Would you like to watch her mirror your life in 20 years?
As for your concern about him turning into a grumpy prick as he ages, you are absolutely correct to be worried.
At nearly 60 I have a bag full of stories between my golf and tennis club of stories of women managing, avoiding, living together but being separated, to full on divorce because of men like your husband being unbearable in retirement.
In my experience men often become the very worst versions of themselves in retirement.
Difficult? Only more difficult.
Demanding? Only more demanding.
Controlling? Only worse.
Cranky? Absolutely awful.
I appreciate that sounds very negative but I am being honest.
Having your own life, career and pension is so important.
Marriages that have limped along often implode because of the sudden close proximity that retirement brings when men are difficult.
The ones that I see survive have the wives living very busy independent lives, holidaying with friends, sisters, children and filling their days with people that care and nurture them.
Expecting a difficult negative man to morph into a light happy individual in retirement is spectacularly optimistic.
I certainly wouldn't bet on it.
He is nasty and unkind.
He is reducing you to a shell.
His dismissal of your upset and concerns is consistent with a selfish, unkind, belittling man that cares little for who you really are.
I am not telling you to pack up and leave, but I would strongly suggest some solo therapy to figure out what you want for your future.
Think long and hard about what your daughter has found the courage to tell you, that is the unvarnished truth close up.
You deserve better.