Ok I am a SAHM, have been since I went on maternity leave with eldest about 16 years ago. Now at the stage H earns enough money, with enough pension contributions he is looking to retire so salary work for me isn't a necessity nor any longer a desire. I inherited a property I rent out, we are keeping it ticking over with intention if needed to sell it for house deposits for kids maybe, while to go yet. So I do have some independent cash.
I do almost everything in the house I don't expect H to do anything, but he does bits and pieces. The difference being is he knows how much hard work a home with two kids is. This arrangement works because he can pull in much greater wages than me and all his time at home is leisure.
He is a good dad because he's a good man. He never says anything derogatory about or to me, makes our kids understand how much work I do. He is thankful I guess everyday I do all his domestic stuff and admin and appointments for all.
The only thing I would say OP is you aren't married, we are, and whilst people say it's just a piece of paper it's a very important one. We are both on the deeds of the house and both named on the pension. You have no legal rights to any of his cash except child maintenance if you split. You are in a financially vulnerable position as you are.
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He isn't a good dad if he's not a good man to the mum.
Picking up towels is no bother but you need to make you arrangements more secure for you.
Either insist on getting married, just registry with a witness will do, or go back to work.
I just wouldn't trust a boyfriend who was beginning to expect his mess cleared up to do the right thing if you split. It just doesn't add up.
My H came home from a long day at work when the kids were little, played and read to them. He was gutted if they were asleep if he was back late. He took them into school during primary because he could and wanted to. He took them swimming and sports at weekend, spent hours kicking balls, played cars, donkey, went to every nativity, assembly he could, arranged days out, played all holiday, watched sport and endless Disney movies with them.
What he didn't do was get up alone, meditate, leave the house to go to the gym, told me to clean up it's what you're good at. He wanted to spend every minute with his babies, still does, and me, and still appreciates everything I do for him and the kids.
So I am one SAHM who doesn't feel vulnerable, unappreciated, lesser. But it's because of how he was towards me. You haven't got that and I am not sure you will as your bf is so far from what H is and was. There is no balance for you. If I were you I would go back to work and split household and childcare more evenly.