He followed my car drunk for 40 minutes and kept trying to run me off the road, the police seen him and he was arrested and charged.

Hey OP, you sorta glossed over this part. WTF? Your husband could have killed himself, or you, or any person on the road. You could make a compelling argument that he TRIED to kill you. He intentionally drove drunk and attempted to use his vehicle as a weapon against you.

To be blunt you don't need any other reason to leave him. If that wasn't enough of a reality check for you, literally nothing will be.

The fact that this wasn't an immediate lawyer up and divorce scenario tells me that this behavior is almost normalized for you.