My question for the group is, everyone tells me he should leave so that our kids (5 & 7) can stay in their home and have consistency, but I don't think they understand that he will not leave or will make it more disruptive to leave than if I do.
I've got a dear friend in exactly that situation. Her son is 4. Her husband is abusive. She's strong enough to take it, I really mean that, but it still costs her, and I think she knows that. her son is indeed paying the price. They actually got nearly divorced and then partly back together ~7 months ago. She figured out that it wasn't working after a month and has been trying to get him to leave since then.
She has both the personal feeling and professional advice that the disruption of her moving out with her son would be harder on her son than if her H left.
And she's finally realized that he WON'T move out willingly. Her conclusion that getting courts/police to force him to move out would be worse for everybody (and likely slower) than for her to just leave. She's probably feeling a little stupid for taking six months to figure it out.
Anyhow, I'm not saying that you and your husband should split--that's a very hard choice to make, and you will know if/when it is the right thing to do. It is your choice.
This disorder is not always the same--some would never leave. Others will do it on the drop of a hat. Either sort may threaten to leave daily. I think you know your husband well enough to be able to say whether he will leave willingly or not.