From his perspective he wants to leave, he is at his wits end, you've forced him to stay in a relationship he doesn't want to be in by refusing the help that has been offered to you by social services, you're non-compliant with medication and you have substantial care needs that you expect him to fulfill. You must be because you've stated that you feel you need supported living and you wouldn't cope in a flat. You're not coping in the home you're in.
You've changed your story from tried to clean up your own faeces, to did clean up your own faeces and yet somehow he still noticed a mess in the bathroom which he wouldn't have if you had cleaned up.
You're feeling sorry for yourself and are going round telling local proprietors of businesses he is likely to shop at and be known to that he is truly an awful human being and you're wondering why he wants to sell the house and the marriage to end.
He has sole custody of your child although you live together. I'm sure social services did not want that to be the case either.
Nobody is saying he isn't being horrible to you, he is. But you've been offered helping hand after helping hand to get out of that situation and you refused it. You don't want to be independent or work on your mental and physical health and you don't respect him enough to care that he doesn't want you in his life.
You've been with him for 20 years. 20 years! If he lives to 80 you'll have taken a quarter of his life and his healthiest years because you refuse to move on.
You want what you can't have. You want supported living, you don't qualify, you rejected the offer for a flat of your own. You want to stay in this relationship, you complain it is toxic and broken down and you don't want to leave.
I'm the biggest disability advocate and you sound substantially disabled, but you're using your disability to control another living breathing person and in all of this you don't seem to spare a thought for your daughter in all of this and how dysfunctional this is for her.