I’m sorry, but I can’t understand why you went along with all of the things that happened.
If your DH didn’t stand up for you then you should have voted with your feet and not allowed your MIL to run your life for you.
Why visit her or let her visit you? You were a partner in your marriage and should have had your say, you say have missed all of the milestones that you mentioned in your OP, but in the end you went along with it.
Time to get over it, forgive your DH and maybe understand your part in it all.
Sorry, it seems harsh but you have to have a clear view of it by now, you say that you are not brave enough, maybe that was part of the problem.
If you had been stronger maybe your DH would have been stronger too.