Is my relationship salvageable?

Forgive me for the novel but I am desperate for some advice.

My bf and I have been together for 6 years. We moved in together after 2 years and have 2 kids together. Well, when I was pregnant with our second, he pressured me to be a stay at home mom. He hadn’t been super responsible and we were already fighting about bills. He guilted next saying what kind of mom wouldn’t take the opportunity to spend the day with her kids. He then resorted to saying he wasn’t going to help with daycare meaning my entire check would be gone if I could even afford it on my own. So I finally caved and started staying home. Things progressively got worse and he was in and out of jobs. Yet when id bring up working, he’d flip out. He wouldn’t help with the kids, house, anything. He spent most of his time in the garage smoking weed. I got depressed and it took all of me to get up and just take care of the kids. The house was getting messy and I just couldn’t keep up. My pregnancy was painful and long. After having our second, things got even worse. He was outside in the garage almost all of the time or off with his friends. He’d get mad if I spent time with friends so I mostly lost them all. He also never wanted to spend time with my family and guilted me about being with them without him so I didn’t go there as much either. I caught him cheating many times and he blamed it on me saying I made him miserable but still when I’d say I was goin to leave, he’d tell me that he’d get full custody of the kids and I’d have to pay child support and barely get to see my children. When he didn’t work for 6 months and we almost lost our home, I said enough is enough and got a job waitressing. He constantly accused me of cheating and sneaking around. Any friend I made was a slut, etc. He was always mad he was “stuck babysitting” his own kids. He often said he’d be back to watch them and then would be back late or not at all forcing me to call off work. When he finally started working, I had to quit because I had no one to watch the kids. He won’t let me have access to his account or money and often refuses to pay my phone or car insurance. Anyways, now he hasn’t been working for 6 months again and we’re struggling. He encouraged me to follow my dream and go to school which I have been and got accepted into the nursing program to start this fall. I’m more worried than ever about how I’m goin to juggle it all. I know I’m gonna have to find a job to pay for daycare while I’m at school but I just don’t know how to do it all. I feel like if I’m going to school, working and studying, he’s going to try to take them because I am so busy. Will I look bad in court?!

I guess my hope is that we could go to counseling and work on things. Maybe if I do better keeping up on the house and can go to school he’ll see how hard I’m trying and he’ll try hard too. I know I sound pathetic and stupid but I genuinely think he has a good heart but just needs some guidance...anyone successfully get past this stuff and have a good relationship? Are we a lost cause? My head says its time to leave but my heart has so much hope 😭 please be kind, I’m really struggling here.