What was I thinking this relationship sucks?

I got with a woman in March. weve known eachother for 20 years, shes married but sepperated, but has went back 5 times. they dont have any kids together but she has 4 a boy 20 doesnt work, a girl 17 lives with a guy in our house doesnt worksmooks weed all day long, 16 girl honner role student good girl., 10year old with dislexiagirl. and my gf never gives me any praise, just put downs. But that is how she was raised. sometimes it gets physical, I dont know how I got myself in this trap. Now she has come back with positive for being pregnent.. oh ye. im 50 with 2 kids boy 28 works and does good and a daughter 26 nurse lpn good girl. and my gf is 42