If he gets some counseling BEFORE you go back to him. Otherwise you will be going into a situation that has not changed. He will assume you will be his doormat especially without the support of the grown children behind you. And it is likely. You need counseling to learn how to withstand what he throws at you. You are just starting to learn.
I would stay put, if I'd made such a great step for myself. Encourage him to get started on the counseling. Then see if it makes things better. Don't be bullied into returning to the same situation. If change is what you want, stick to your guns. Tell him what you need to happen. Then wait and see what he does. He needs to prove it will be better.
I wish you so much luck in this!