I have no problem with your lifestyle of living in your own homes, I've done it, it works and more people should consider it. I have my own house and no one would ever be able to persuade me to sell it and lose my independence, no thank you.
So he says at one point in effect that you should want what he wants [a pipe dream basically], and do it or he will divorce you. That is awful, manipulative and selfish whether he has now retracted it or not. It's emotional blackmail...low.
Apart from the costs and disadvantages mentioned by previous posters is it wise and practical to be 73 and living the rest of his life on a boat? If at times [bitter weather/flu/illness etc] he is not on the boat but at yours then he will be using you and will have frittered his equity away. And you pick up the pieces? Does this seem fair to you?
If you don't want to do his plan....say NO. He's your husband and should care about your needs, wants and feelings so you should be able to say the way you want to live and how to manage your own finances to safe guard yourself and your future. Stay living where you are, do not sell up. I would not buy a house jointly with him, it could get messy at some point and you could be reliant on him financially and a victim of his whims in the future. Your finances have been separate for 20 years, I suggest you keep it that way. You will feel very uncomfortable in the years to come if you don't.
Take more holidays on boats, as many as he or you both want, enjoy them without the responsibilities and costs. Time to be realistic.