Wow, some of the replies on here are plain nasty. I am so sorry for the situation you are in OP and I am outraged for you at some of the comments.
Anyone who suggests you should make yourself homeless is talking nonsense. Nowadays that often means being accommodated in a single room with no cooking facilities and one bed, at least for the first few months (just look at the posts about it on MN). It is absolutely not the case that social services would deem you unfit to care for your children if you became homeless and ended up in emergency accommodation, but it is highly likely your children would prefer time with your husband if that happened as who on earth would want to stay in a single, dingy room. He might well use that to his advantage if he starts monstering and trying to further control you and make you return. It would also make parenting and working problematic. You children might well need to move schools/nursery etc and you be moved several times. It would be far better to plan to avoid homeless and anyone who suggests otherwise is being ridiculous.
Social housing is a scarce resource too and rents are unaffordable in many areas. Lots of people mention their mum being able to leave and bring up several children as a single parent. Things were different years ago as it was much easier to get a council house and mortgages/rents were much lower and affordable. As an earner OP is disadvantaged by the system perhaps as she earns too much for means tested financial assistance (UC etc) but will not earn enough to pay rent, all the bills, food, childcare costs etc. We are in a cost of living crisis and that cannot be a factor OP ignores when planning what to do next. Nor should she give up her job or compromise it.
As for using her husband as a childcare facility. That is a mindblowing comment. He is a joint parent. OP should be able to rely on him. In fact his children should be able to rely on him. That should be the case whether OP leaves or not of course, but we all know that coercive, controlling men do not take kindly to their wives leaving and sometimes lash out and punish. OP knows her husband far better than we do and knows his likely reaction and again, needs to plan for that. Including that she might be financially solo at least for some period.
All that said, OP I do think you should get legal advice so you can consider options that would allow you to leave sooner. It won't compel you to leave sooner, but might give you some confidence that you can do so and is a viable option. Many family law solicitors charge a fixed fee for the first session for several hours during which you can troubleshoot key issues. (Happy to recommend some, PM me if that would help.) A court would look at the value of current assets and earning potential when considering a split. A lot of what your husband has done (one property in his father's name, salary and dividend split etc) are all done for tax purposes. However, there will be plenty of evidence of these tactics and the true value of the assets. He might choose to pay himself a dividend and low salary etc, but a judge looks beyond that. It would be pretty impossible to hide tax avoidance/minimisation steps. Lots of people do it and the courts are astute to it.
I also think it would help to approach a domestic abuse charity for help. Whilst they might not provide accommodation, they will know good local solicitors and can help build your self esteem. As someone else rightly said, when you live in a hard, challenging, abusive situation, it strips your morale and gusto. They can help build that back up and also give tips for getting your ducks in a row so you can leave sooner.
Sending big hugs your way.