Poor “father – son” relationship

So today i met with my dad at a fast food restaurant to fix an issue on my tax returns. He was mad at me because I messed up on them and I said i was independent when i was still living under his roof so now he got charged a big fee for my mistake. I hadn’t seen him in a while because me and him don’t get along so well. But i left because i got tired of living with him and i moved in with my mom. Ever since i was young I was always afraid of him. My earliest memories include my dad beating up my oldest brother in the kitchen at night. I remember seeing my oldest brother cry really bad and he would bleed sometimes. My dad doesnt do this anymore but he’s never talked to me about this. I was pretty young but i remember this very vividly. I used to think it was just a very bad dream i had when i was younger but my mom says it really did happen. I think my dad thinks i dont remember or maybe he doesn’t wanna talk about it but it doesn’t matter, all i am is a failure to him. I dont wanna go to college because of him. He says he can help me with money if i go to college but his anger is so energy draining. I feel like I’m standing in a minefield when im with him. He gets mad at me for everything i do. I can’t even be myself around him because apparently i make him mad when i be myself. He has like a “tough guy complex” he’s too macho for expressing his feelings. He has anger issues and I’ve had enough of him. I dont wanna be dependent on him anymore so I’ve left and moved into an apartment of my own. I’d much rather deal with the stress of 8-10 hour shifts at McDonald’s for a couple of years than his emotional and sometimes physical abuse. I’m gonna go to college but not while im under his roof. He doesn’t know I just recently got an apartment but i know he’s gonna be pissed off about it. I know my thinking isnt crazy. Nobody can stand my dad, not even the women he meets. My mom stayed with him the longest unfortunately. But yeah he doesnt really have any friends becuase of his anger. He is the angriest man i have ever known in my life. I just dont wanna be around that anymore.