My two cents

1. Try to think through any improvement needed on your side. It is easy to blame on other people. If he has a valid point, then acknowledge it.
2. Consult your close coworkers or your mentor for the feedback as well.
3. Schedule a 1:1 with him at lunch time (more relaxed environment). Be open minded and objective, use this opportunity to clarify any misunderstanding, if any. See if this can start a healthier relationship between you two.
4. If #3 does not work, then talk to his boss. Only bring the issues matter the most to the boss (pick your battle). State plain facts to the boss.
5. If this doesn't work, then either change to a team/job or escalate to HR. Focus on any code of conduct violation to HR.

As you mentioned, you and your family take the priority. Don't waste too much energy on this. Keep the chin up and you will be fine. Good luck!