As far as I know children of abusive and controlling parents often seek a marriage partner with the same traits, quite unconsciously. Perhaps this is what you have done.
Equally, as you spent all your childhood witnessing your father behaving like this, obviously you just assumed all men do this when your husband started it.
Anyway, you have nothing whatsoever to be ashamed of here.
It is easy for all of us to feel that your marriage is not worth going on with, but only you can decide that. It all depends on whether you still love your husband enough to want to go on living with him.
Taking a less serious view, you have been through a lot of changes all at once, retirement, menopause, back-problems, moving, your son marrying and your FIL dying! My guess is that both you and your OH need time to adjust to all these changes.
Try to discuss all this, and what you both want out of your retirement openly and honestly with each other. If your OH won't talk about things, then get professional help finding out what you want.
If you and your husband stay together, some compromises may be necessary - getting up at the same time as him 2 or 3 mornings a week, perhaps? On his part, he needs to accept your interests and respect them.