If the sexual incompatibility isn’t fatal, the lack of emotional connection and disrespect from your husband will be. There must be something very compelling that you didn’t share for you to have married and had a child with this man despite such a long history of verbal abuse. I don’t know if what seemed to make it okay were positive things about him or insecurities/fears on your side — or both. But whatever it was seems to be wearing thin.
Please take a clear look at what keeps you in this. In my opinion, without trust, you don’t have much of a relationship. If that’s the case, it isn’t healthy for you and it isn’t healthy for a child to grow up in a home where his father treats his mother so poorly. Again, that’s a general opinion. There may be things about your relationship that you didn’t share that make a difference.
I do think you two can’t solve your differences on your own. You’ve tried for 7 years without results. I urge you to see a couples therapist to help you look at alternatives. If your husband won’t go, go yourself. You need an objective person who can hear your whole story to help you make some important decisions about your future.
I wish you well.