I am 'religous' (I have a faith). I know that lots of religions have man-made rules (literally MAN made) which don't act in the interests of the followers.
I know that my God is a loving God and wouldn't want someone to stay with an abusive man. My God wouldn't want children to have to be brought up in that sort of a household. I am divorced, and had support from the people in my church who I was closest to. Most people were neutral on the subject, and I didn't face any judgement (that I was aware of). But even if I had, my children's welfare is more important than the opinions of some people at church and in the community.
Your husband is not a loving or good man.
If you really don't feel you can divorce, then just separate - at least to start with. If the only downside of separation is you can't marry another man, does that really matter? Are you in a rush to marry someone else? Why not just enjoy the peace and calm of being single?
And financially - your SH is also abusive financially. You are married so half of all assets are yours. If you divorced and you kept the children with you, likely more than half. If you speak to a solicitor, in confidence, you can find out where you would sit financially. Even if you decided just to separate, you could enlist a solicitor to work out a fair financial agreement.
Finally - you are your husband's carer. That just makes his vile ebusive behaviour worse. He doesn't deserve you. You don't have to be his carer. He's forfeited that right when he failed to be a good and decent husband.
It seems that in your home your DH comes first (in your eyes, in his own eyes and therefore in your DC's eyes). Put yourself and your children first - they deserve it and your husband doesn't.
I wish you well. You don't have to be stuck in this hell forever.