I think you need therapy yourself OP as to why you're prepared to put up with his behaviour.
No one is entitled to tell you how you feel about things. It's your feelings.
Even though you've left at the moment he's not willing to hear your point of view and everything is still on his terms, he's making no effort to hear you out or to try and sort things out, instead he's being nasty to you. It's his way only, there's no consideration for you at all.
You have 2 choices now, you can go crawling back, begging his forgiveness , live your life walking on eggshells and putting up with his rants. You probably won't see much of your children and probably any future grandchildren because his behaviour is already effecting them.
You're allowing him to talk over you and he seems to be able to convince you are wrong when you know you are not, the children feel exactly the same as you, it's not you and them that's the issue, it's him.
That's the reason I think you need therapy, to work out why you've put up with it, to work out why you can't stand up for yourself, why you allow him to speak over you and why you allow his opinion to be the one that matters.
If you go back now his behaviour might change for a short time but it won't last and if you go back it just shows him that he can behave how he wants and you'll just put up with it, so this is going to be your life from now on.
You don't actually miss him, you miss your idealised version of him.
Think back to your initial posts, that's your truth, thoughts and feelings.
Whatever you do next I hope you find happiness