Thank you for all of your recommendations. So it's been some months and I basically have decided it's a lost cause. I have set up boundaries i.e. emotionally separated since I cannot do a physical separation
Godloves, according to Dr. Harley, an "emotional separation" simply does not work. If you are trying to do this without breaking his heart, then this approach is destined to failure. Being "just roommates" is going to get worse, and worse, and worse, so you need to make a plan to become financially independent and execute it. Do you have a lawyer? Your husband is probably responsible for providing you some support until you can get on your feet. You need to get a lawyer in order to make that possible.
In the midst of the bad marriage, I haven't had all the energy I need to find work. I am actively looking for work to be able to support myself.
This is good - you have to have a plan. If the bad marriage has made it hard for you to stay motivated to find work, you should consider seeing your doctor about getting on antidepressants for the short term. ADs can help you stay even emotionally so that you can stay motivated and get this done.
When I told him I wanted to separate, he made threats that scared me (not for me but for him).
Dr. Harley does not advise telling your husband you plan to separate. That will weaken the impact. Just make your plans and then separate.
My question is how can I get out of this situation with someone so difficult and without breaking his heart?
This is why you need to not plan on "emotional separation" - you need to get into a true dark Plan B, where you are not saying anything to him, and he cannot possibly say anything to you (because you have blocked all contact). He is still liable to support you during this time, which is why you need a lawyer.
Even if we were to work the MB concepts, I guarantee you the bottom line according to him is, I don't submit to him and I'm not following his beliefs.
Well, him saying that you need to submit to him is the exact opposite of working the MB concepts.
I'm not good at this nor do I know how to divorce. Never planned on this, and don't want to hurt my kids. I'm scared.
The good news is, according to Dr. Harley, most women actually do quite well once they get out on their own and get their abusive husbands out of their lives. It's men who can't live without their wives, not the other way around.
Please answer BrainHurts' question - when was your question read on the show, if you sent one in?