If it helps at all, I've been in a similar position. Under appreciated and taken advantage of, which is what you are experiencing with your DH.
I had sciatica, so for me it was utterly critical, as I was in pain for weeks, unable to walk, on crutches and in agonising pain. It made the childbirth for my DS of 24 hours look like a holiday. I've rebuilt my physique.
Don't leave this any longer, please, as if your back goes, then you'll really discover how undervalued you are by the sounds of it, if they all treat you as nothing more than glorified house staff.
Please don't blame yourself, you've done anything wrong, women are programmed from birth and the whole of society is dependent on our physical and mental labour as carers. So it's not unusual to be angry and feel undervalued and underappreciated. And we're expected to do it all with a smile!
Good luck with that.
If you want the home dynamic to change, it'll have to be you that does it.
You've clearly tried to get DH to change via counselling. But if he doesn't want to change or doesn't feel the need to, then you have your answer.
I suggest you work on your physical health first as it has a secondary benefit for your mental health. Far more than we realise.
Please trust me on this.
Get clearance from your GP/physio/chiro, ask them what strengthening exercises are safe for you to do, get a local gym membership, get childcare for when you go if necessary. Arrange it, as we're all experts at arranging after all! And go get some time for yourself.
I'm sorry that you are experiencing this, you will have to take control of your habits and behaviours. Which I found was the most difficult. I call it 'motherhood syndrome'. The urge to help everyone with what is in fact their responsibility but you feel the impulse to assist. It's just societal programming, which you need to recognise.
Sadly, if everyone is living off your physical labour, effort and time, they aren't going to either want or like that to change in my experience.
I now have this rule I apply and a question I ask for adults I live with who are expecting me to do tasks they can do themselves.
Are they capable of doing it themselves? Are they cognitively and physically able to do it themselves? If the answer to that is 'yes'. (This doesn't apply to young DS/DD who are too young obviously).
Then I stop doing it and let them do it themselves, so I can free up time to prioritise myself (whether its for work, mental and physical wellbeing).
So what if the house is a bit of a mess for a bit.
These chores are never ending anyway.
If you think being confrontational or being obvious is too much.
Then the old 'oh God I thought I'd done that, I'll get to it soon' line is a good one.
Then never do it.
It's only once we take control of our time and life that they'll start to notice.
So the only question you need to ask yourself is what do you want to be doing, how do you want to be living your life from this day forward?