If it bothers you that much, have him take a turn running your child to the therapists, doctors' appointments, etc. And ask him to homeschool for a day or two while you get out and do something.
My dh pitched in occasionally, but like the previous poster said, he left me to do my job, and he did his. He cared, but he trusted me to take care of those tasks delegated to me, the stay-home parent.