I was in a similar situation and told my H he had to go to individual counselling or I was leaving. The problem for me was that he didn't listen to me, he argued with me constantly, he took me for granted, and he was occasionally jealous of the kids. Underneath that was sexist thinking about women, immaturity and intense emotional dependence on me, male self-absorption, and a fortress-like self-defensiveness.
I was dead serious about my ultimatum. I wasn't going to do marriage counselling again, I'd already dragged him to a bunch of expensive sessions and it was completely pointless. The problem wasn't in the way I was communicating, it was that he seemed unable to HEAR my communications.
After my ultimatum, he went once every 2 weeks for about 2 years to talk with a psychologist nurse, who - from the things he said about his sessions - was very clear on what he had to do to improve the relationship: drop his reflexive defensiveness and listen. Read the things I sent him. Discuss them with me. Be open to self-criticism. Contain his desire to immediately argue. Understand how patriarchy had shaped him and his thinking about women and his wife. Build his own emotional solidity.
Over time, things did improve a lot, but there was also a LOT of backsliding that often felt like it was "one step forward one step back". It was exhausting for me to teeter constantly on the pivot of "OMFG! he did it again! Is this FINALLY it? Do I leave now?" and then he'd say all the right things and be very apologetic. And then for a while it wasn't possible to leave because one of the kids started to really struggle with her mental health and I wanted to keep things stable for her as well as the other two.
In the 5-6 years since my ultimatum, the periods between the OMFG! moments have gotten longer and longer, but these moments still pop up occasionally, and then I'm just really triggered. All I can think then is how much I want to live all alone in a little cottage with my pets and a spare bedroom for the kids when they want to visit. Currently it's such that I'm still not sure what I'll do once the last child is out of the house, which will be 1.5 years from now.
So I have three points about your situation:
(1) Marriage counselling could help but your H has to really want it himself. That want might not come until you give him an ultimatum, an ultimatum that you're ready to back with leaving.
(2) Your H has to have not only the will but also the CAPACITY to work on himself. To understand that he is hurting you and why he behaves that way, he has to be able to see beyond himself, reflect on himself, actualise himself, learn self-awareness.
When I did the MC with my H, it was blindlingly obvious that he saw it as a box-ticking exercise. The therapist noted it too. He was thinking: OK, I will obediently attend all the sessions; I will nod and look like I'm listening; I will learn by rote what the right things to say are (e.g. "I hear you"); I will say them often. Then my wife will go back to being nice to me and wanting to have sex with me and will stop talking about asset division, and everything will be hunky-dory again.
He couldn't do that in IC. I wasn't the subject, who he had to flimflam, soothe, cajole, promise, and placate. HE was the subject, and he had to look at himself. And it was REALLY hard and painful for him. It's not for the weak-willed, it takes courage and commitment. Not everyone has that.
(3) It will likely be very frustrating for you whether you do MC or he does IC, because it'll be "one step forward, one step back" for a long time. That just drains all energy out of you. It's kind of a torture. It damages the marriage further. If I had to do it all again, I'd probably separate and tell him to get IC and we'd see about our marriage after a year. But then again, if I'd left then, that probably would have been it for me.
So maybe you should create a sort of decision tree: (1) can I tolerate my husband's behaviour for the rest of my life? If yes, do nothing. If no, (2) do I think he will want to work on himself to improve our relationship? If no, separate. If yes, (3) do I think he will be able to work on himself effectively? If no, separate. If yes, (4) can I tolerate the inevitable back-sliding that will probably go on for years?