You’re not a broken record, your responses are typical of someone who has been abused in multiple ways by their partner.
You say you love your husband. But you must love your children more, I assume?
And them witnessing this relationship, as well as his temper flare ups and the classic abuse cycle (explosion, apologise, calm, explosion etc) is literally training your precious, innocent children to be in abusive relationships themselves as adults.
They are being taught by his actions, and your response to them (and toleration of them) that this is what it looks like when someone loves you. That this is a healthy and acceptable way for someone to treat you if they love you.
You will be utterly haunted by the decision to stay with him if one of your children ends up being abused and assaulted and raped in their own relationships. And statistically the longer you stay with him, the more likely that is to happen.
His behaviour hasn’t improved, it has escalated. It’s time now to put your children’s futures first and not force them to witness this abuse (if you and of them) under the illusion of ‘happy families’ any longer.
The other thing to consider is that if one of them tells a teacher or friend (who tells a parent) that their dad calls them names, throws things, drives dangerously to punish / scare them etc then the decision about what to do next could be out of your hands. The safest way to stay in control of your children’s wellbeing is to pursue professional help proactively.
Im very pleased you’ve spoken to your friend, I know that was a huge step.
Please consider the impact than normalising this relationship and family dynamic (explosion, apology, calm, explosion etc) is having on your children. It is very, very serious in addition to the sexual abuse and rapes you are a victim of yourself.
Your children are being trained to be abuse victims.