Is It Time To Go?!

My SO and I have been together for 2 years. The relationship has had its ups and downs. I've dealt with lies, cheating, abuse, false accusations, controlling behavior and lack of respect/attention. I also am the only one who cooks, cleans, and tends to the kids. I spoke with him about my issues with him and a few things have improved lately. He had started picking the kids up from daycare and is spending less time with his friends. I'm still annoyed by his unnecessary lies. He is also continuously calling me while I'm at work (after I explained our no cell phone policy), gets mad if I don't text back fast enough, or asking me the same question multiple times as if I'm lying. Even though he has improved a few things, I'm not as attracted to him as before. I'm trying but it's not the same. I think the issue is that I put up with it too long and now I'm to the point everything he says and does gets under my skin. Is it time to just go?