When my daughter has trouble making a decision, I make her take a piece of paper, draw a line down the middle, and write "Pro" and "Con" on the top. Write down all the reasons to stay or leave on the piece of paper. Does the answer pop out at you? There you go.
Often, knowing what the right thing to do is not the problem, it is "how in the heck do I do it without...feeling guilty, hurting his/her feelings, costing me anything, getting slapped around..etc. etc." The brutal truth is that life-changing moves do cost us something. What we are really avoiding is facing the full consequences of the decision. So, I suggest you do some imagining about how your life could be in five years or so, and ask yourself a couple of questions.
What are the potential consequences if I stay? Would I and my family be better off or worse?
What are the consequences if I leave? Would I and my family be better off or worse?
If you ended up doing all the work, by the way, it was with your permission. A very simple solution is to go on strike. Stop for dinner before you get home. If you don't want to do laundry any more, walk away from it. Be prepared for the consequences, of course. I think you have acquiesced to his poor behavior because that is easier than fighting it out.