I'm totally with you on the impact of judgemental PIL, who are incapable of seeing any side other than theirs. I've been gobsmaked a few times by some of the sweeping statements my MIL has said about others who are in exactly the same position she was. For example she's quite happy to say "Mothers in Africa on a low income should be sterilised against their will, so they don't have lots of kids"😱 Not withstanding the ethical and morally horrific implications of that statement, she herself has 6 kids and has claimed benefits her whole life!! That sort of firm and unreasonable stand does tend to be their default position on so many subjects.
I don't know where they get their moral superiority and lack of empathy from but it makes it difficult to deal with, because there's no reasonable place to have common ground with them.
My only advice would be to try to see them less and remember that whatever hurtful things they say that makes you feel judged, you don't actually respect their opinions. They aren't nice people, so it doesn't matter what they think of you.
I did find it hard to let our children see them at times and have a relationship with them uncoloured by my feelings about the PIL. I had to explain to our DCs that not everyone thinks like granny does and help hurt feelings etc over the years. It's got easier in time and as our DCs grew up, they have made their own minds up about them.
I also would want to be able to come home and be able to express how things have gone through out my day. It's part of feeling valued. Although your husband might not be able to be that vocal with you, it doesn't mean he can't give you support. Maybe suggest that if you are feeling down he could do some practical things to make you feel better. Like giving you a cuddle on the sofa, running a bath for you, giving you a massage, taking over the meal preparation or things like this. Often this sort of thing is easier for autistic people to understand as it's a known expectation. Although it's not verbal it still shows that they value you and care about you.
For some people who don't have a good support network, keeping a diary of a sort where you can vent the negative stuff can be useful too. Just make sure you can keep it private so nobody else can read it. Just naming the way you feel can help, as can reading it back at a later date and seeing if you still are in the same place.