Sorry your having such a hard time. Its very common to doubt yourself about the abuse and question it. You start your post by listing what you have been subjected to, that’s abuse. The self doubt is just a reaction whilst your trying to make sense of it.
You say your unhappy and a nervous wreck. That alone is enough reason for you to walk away. Please don’t feel you need to justify your actions. You and your children deserve better. The final push as you say is very nerve-wracking and it’s natural to have self doubt all the way through. Trust your instincts and do what you can when you feel its safe to do so. Take care x