Depends on a state. There is no common law in Michigan.

There is always a way out. It might be tough but doable. I am not sure how you have to get divorce if you aren't even married. I lived with my ex for 9 years, granted we weren't married and had no kids together. I just moved out to my own apartment. Gave him 30 days notice and that was it.

Since you have kids you can't just take them away from him. But you are not obligated to live with him

You sure need to apply for child support. See a lawyer who provides free or inexpensive consultation.

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