Sweetie, that's not living, it's serving a sentence.
My life was similar in some key ways until we split up three years ago. From the other side, let me tell you -- it is essential to get out & retrieve the essence of who you are. The false narrative of how you aren't doing enough; the resentment at you taking care of yourself -- those are so corrosive to your spirit. I didn't experience the additional powerlessness of having our property not be in my name, but that just adds to the unacceptable situation. I'm sure you think about this, but it isn't good for kids to see their mom treated like that, or putting up with that.
I hear that there are some daunting logistics to face in leaving. But you WILL be able to figure those out as you go. If you have had the inner tenacity to survive the environment you're describing, hang onto your sanity, & insulate your kids from the worst of the dysfunction, you are a highly capable and resourceful person. You can apply those same strengths to figuring out how to make it independent of your kids' dad, and it may not be easy or perfect at first, but it won't be as grim as what you are contending with now.
I agree with the PP that it is likely that you are entitled to more in the way of support & property than you believe. Formal marriage is not the be-all and end-all of the analysis in most states.
Big, big hugs. Please participate in your own emancipation. You deserve a different life than that.