You keep saying that your H is disrespecting you, which means you still have expectations of him showing you respect. Let it go. Stop focusing on his actions. You cannot judge him based on your set of morals and values.
If you feel like things would be better off for you that he moves out (yes first figure out the legalities), the kids will be alright. Because you will be more sane and they will feel it. I told my kids the truth that daddy is now staying somewhere else, and so far I think they are better off with him not around all the time. he was like an emotional unstable ticking time bomb when he’s here. Of course they miss him, but they are doing better than I imagined. I’m not saying your children wouldn’t be devastated, but if the good outweighs the bad, maybe it wouldn’t be as bad as you think. Letting him stay or not, you need to let your emotions settle first. You are full of resentment right now, and you shouldn’t make any decisions when your feelings are running high.