The way you’ve titled this post tells me you understand the truth about your relationship, simple as.
Yes, we have all been through a lot during the lockdown period it was improved some relationships and worsened others. You are in the latter camp clearly and I’m sorry to read this and have to state it to you so plainly. You want to get engaged and hopefully married yet you disclose there is physical and verbal abuse in the relationship. I’ve learnt in life people rarely change much with time and may be set in their habits and he may belong to that camp. Credit to both of you, you want to go to therapy but that ship may have sailed ages ago and the relationship may be broken beyond repair. Personally, if there is any form of abuse in a relationship run to the hills you deserve better. You’ve been in a relationship for years and being alone will almost scare you or even the prospect of it give you sleepless nights but you will survive and find someone better that would not abuse you whatsoever.
Lastly, never make the mistake of comparing yourself to other couples. You never know what is going on behind closed doors. They may be struggling financially, abusing each other in the quiet of their own homes, etc. You never truly know people beyond what they show or tell you it can be an act. Comparison is the thief of joy.
In conclusion, I will say attempt therapy and see if things improve. However, if any form of abuse reoccurs run to the hills and leave. You are worth more than you believe, get a good support network around you and know you deserve better. Have a good day.