Here is the thing, you need to ask yourself why this behavior from your H is acceptable to you?
The next thing is that boundaries are internal to each person. You cannot police this because you are not with him 24/7, so you have no idea what he is doing. If his boundaries are crap, and he has shown you that they are, then he has to do the internal work to change that. And he has shown you that he has no interest in doing that. Now it is up to you what you want to accept in this relationship.