At my wits end with FIL with dementia and need help on what needs to get done. Any advice?

I met my husband in ‘98 at Law school orientation and at that time, he had just lost his mom and was caring for his depressed dad, a physician, who had relied on her for everything, and was lost. Having lost my dad at 15 to cancer, I took it upon myself to include him on our dates, our events, our whole life. Husband has one sister who has mental issues and can barely care for herself, though that’s another story. Eventually, we got married, moved out on our own and lived with our two girls in a quad level home. Fast forward to 2013 - we would race to his home because he wouldn’t answer his phone to find him disheveled with empty alcohol bottles all over the house. Once, we came home from vacation to find he had fallen down the stairs and broke his back. We decided he needed to move in, and he got his own room, our girls had to share one, and we had the last room. Only two baths. Needless to say, that was a nightmare. He’s deaf in one ear and has always been reclusive to the point he can sit in the same spot on the couch all day long blaring the tv that could be heard outside. His bathroom issues meant we could not use the bathroom until we cleaned it, every time. And he’d have to use all the bathrooms since he couldn’t get into the tub, so he’d use our shower, and use the girls’ bathroom taking his sweet old time while they would have to get ready for school. All hours of the day and night. Just absolute chaos. So we decided to move to a home that accommodated him - a suite with a bedroom, bathroom and sitting room. For the last two years, we’ve been in the new Home (which is so beautiful and used to smell so good), but I am on the verge of exploding. As I write this, it is 39 degrees and I have my windows and doors wide open because he walks around smelling like urine every day. We got him depends that took awhile for him to use, but now he walks around with them in his hand, touching everything in sight to get to the garage to throw it out. I live my life on a daily basis so angry and bitter that these are the years I have with my children I am constantly cleaning after a man who is hostile, unappreciative, needy and thinks we are servants. I know in my mind it’s not his fault, but I can’t take it anymore. He is a dr and hasn’t seen a doctor ever as long as I’ve been around and has never been diagnosed, but it’s obvious he has dementia. We took the keys away a couple years ago and literally do everything for him. My husband and I also run our own law firm and our marriage has been destroyed completely with the dark cloud over our head. If we send him to a home, in almost 20 years of practicing law, we know the horror stories and don’t have time for that. He has no money and we don’t have extra money to pay for private help. I've begged my husband to take him to the dr so we can get options, and he refuses because he believes it will open up a whole can of worms of a life of dr visits which we definitely do not have time for, and there’s nothing they can do. No family, certainly not his self absorbed daughter, has ever lifted a finger. I’m 42, never took a honeymoon, can’t even go on a date because I don’t want my kids to be left with the responsibility of his sickness. I’m just so sick and tired of feeling hatred for this situation and I need help. I need a step by step guide on what the heck do I do to stay sane and practically deal with a destroyed home (I am OCD about cleanliness) and a Dad whose mind works enough to do what he wants, but doesn’t work to be hygienic or take an ounce of responsibility like putting your cup in the dishwasher. So sick of it and I have lost joy in my heart over carrying this load, as I know my husband has. Every single day it’s a fight - Dad, have you showered today? Dad, please put the underwear in a bag before you throw it out. Dad, you need to wash your hands. Dad, please do not put the used underwear in the laundry basket (that sits there and stinks the whole house up repulsively). I can go on forever but it makes me more mad. He will come out of his suite, say while we are all watching tv with the kids and just stands and stares and stares. I ask what are you doing? And he responds with hostility - what does it look like I’m doing? I feel like I fell down a rabbit hole almost every day of my life with the nonsense we live. Please someone help.