I’ll tell you my opinion and personal, unprofessional advice - but this advice also includes considering it carefully, along with what else is said here, and taking your considerations to the counsel of a priest. Or two! I found that priests are for the most very well trained in abuse within marraige. As well as all related moral matters. I would ask around as to who is a holy and wise priest in your area.
The advice that comes to mind is that seeking separation - a *long *separation - a year or two at the very least - is a fantastic idea in your situation. I would not even consider divorce until you have gotten away and had some real peace for some time - because you said you and your daughter had peace when he was away for a week. Its going to take way more than a week or a month or even maybe longer than a year - it might take two - to get over all these years of abuse. And you really, really need peace and quiet, and to not have to be living in vigilant fear over unexpected anger outbursts, in order to seek God’s wisdom. It is in peace and quiet that you can think, and that you can listen to God’s voice in your heart.
Plus, if you are just separating and not considering divorce, you can assure your daughter of that, and tell her you would not consider divorce without a lot of thought and time and counsel - that way she does not feel guilty for advising you thus. She can know that its
your decision, made with wise counsel, if it comes to that. For now she can have the peace she needs. Her getting very drunk in your presence really does seem like a cry for help. But you don’t want to tell her its because of her so she is not feeling guilty. And it should not be just for her. You matter too and you need peace.
Also it seems like your husband needs a shock and a serious shake-up in order for him to make some changes. As shocking and serious as it is for you to separate, it really is only long past due “natural consequences”. When you yell and are cruel and unkind then people don’t want to live with you.

You can assure him you that you are still married, but that God loves you and does not want you to live with abuse. If he says I’ll get better, you can say, great, I am glad, but I need to get over all the years of abuse I have lived with and heal, and I can’t do that with you. Tell him you will only come back after you understand the situation and after your counselor - and his - recommends it.
You need counsel to learn in what ways you have been co-dependent and neglected making normal boundaries and so actually *aided *him in his sin - actually assisted him in living in his worst behavior. That is not loving or helpful to him. You are supposed to help him get to Heaven, not the other place, right?
And like you said, this is a terrible situation for your daughter to live in. She needs counsel for all her years witnessing this, which is so wrong. Being separated means she can go to counseling and come home to some peace while she considers what she learned.
That’s my opinion from what you have said. Again I will say, its just for you to consider and take to counsel, especially that of a priest, after you think about it. You can bring your questions concerning it to him.
I highly recommend Gregory Popcak’s counseling service. It Catholic, its good, you can do it over the phone. I have used it in a crisis point of my life when I was at my wit’s end as to the right thing to do, and it was very helpful.