I think @Ellen2 said it all. Only you know how far is too far, and there are no easy choices, unfortunately.
It's likely that unless you do ask him to leave - soon - and mean it, versions of what you're going through now will continue for the next decade or more. Your resentment against your husband will grow, and you'll feel you eventually have 'lost your voice' in the relationship, because every time you try to stand up for yourself and your kids, nothing changes or gets worse.
There may be some good days, but the overall pattern will be downhill - unless your husband has an epiphany and decides to get actual professional help for his issues - which might happen, but again is unlikely, if he doesn't see already that his behaviour isn't okay. (He is more likely to be willing to get help - if he values his relationship with you and the children- if you do this early on. Later on it will be easier for him to ignore, because it hasn't been enforced and you will have lost respect for each other).
Your children risk later having behavioural or mental health issues at school or at the very least, growing up resenting their father. The relationship between them and their father will be a difficult one and one day, they will start to wonder why you put up with it. They will think it's normal until they find their friends' homes aren't like this. They won't feel able to bring their friends home.
Your relationship with your husband will deteriorate until you have no respect for him, he has none for you. There'll be no relationship left worth saving.
I know this because this has been my life too, and my kids are now 19-21 and this is what we went through from their births onwards. This year their father and I finally separated.
I just always hoped another day would be magically better and he'd change.
The effects for us were varied, but overall destructive to the parenting relationship and our marriage.
For years our son would act out at pre school and school after a blow up at home, and I had almost weekly phone calls about his problems. Our daughters are sensitized to shouting. One had mental health issues as a young teenager, which required CAHMS intervention and was a truly terrible time. She attributed some of her problems to the constant blow ups, yelling and tension at home.
We then had family therapy - my husband said all the right things and came across as perfectly reasonable to the therapist! He made some changes for a while but eventually reverted back.
Our young adult kids today have a very distant, strained relationship with their Dad. They still hope he'll reach out to them in the right way, but so far true to form he continues to let them down.
Even if there's depression, anger management, personality, childhood, work or other issues affecting your husband, he has to accept responsibility himself for dealing with those, as an adult.
If you can possibly afford it, even for just a few sessions, I highly recommend some individual counselling for YOU. Relate online relationship sessions are about £75 each, which I know is a lot, but it was an eye opener for me. It gave me back my confidence and I was shown what a healthy relationship looks like, and to think honestly about what I wanted. Also research the legal and financial situation if you separate, so you know what's involved if that becomes necessary.
I only wish I'd put my foot down years earlier. My kids and I live in a calm house now - no eggshells. I have had to work differently than expected to secure a financial future, but it's worth it.
Sadly , he probably isn't going to change.
One parent has to advocate for the kids. Please advocate for yourself too.
Sending you hope, strength and hugs ♥️