Well, take it from me. My husband is almost never home and my kids almost never bathe. There. I said it. Baths are hard and if I can't smell my kids or see any dirt on them, who need the hassle? Thank god for the lack of sweat glands in little kids (I do bathe them more in summer, but for heaven sake, not every day). I like to think I'm preserving their precious natural self moisturizing skin mechanisms.
And as for everything else, I do it all the time. All of it. When their dad is home. He likes to watch too much TV. So I draw the line and give him tasks to do that leave very little TV time. Your husband's schedule may not accomodate this, but take a similar approach:
The same way men don't just "know what needs doing" but they'll follow a list just fine-tell him what to do. Be fair about it. Give them specific activities and games to do but ALSO make a couple of nights per week TV only, or break it up like; 1 hour building with legos then one hour watching tv. Better yet is sending them out. I send my hubs to the grocery store with the kids to bond. It accomplishes the errand, the bonding and the TV removal all in one shot. Send them to the library, the hardware store, wherever. Or I give them yard work to do (he rakes leaves while kids toddle around). Get creative. Left to his own devices, he will not "think of activities to do".
You're right on two counts: He's lazy AND he'll feel like a bad dad if you criticize him (he'll get defensive anyway, actually he'll think he's a great dad). SO don't criticize him. Clear a nice inviting space for the legos or some books, hand him a cold beer and tell him to play until 8:30 before turning the TV on. Offer your husband some rewards for being so great and playing, favorite meals, favors ;) etc.
Are you a SAHM mom? My philosophy is that if dad pays the bills and works away from home and I don't, he doesn't need to split the care taking stuff with me (He chips in if I need it, but that's rare). All the SAHMs I know do all the napping and care taking while their husbands just chill when they're home from work. It seems to work since we're better at those things anyway. However if you are also working, you do need to split it up. Figure out what's fair, make him lists, don't get mad, just be fair. If he's a great guy and a great dad, he should work with you.
(although not putting him in his car seat is a little wacko--are you sure he's not a little worse than what you're saying? if not then just be more clear and take more charge-TELL HIM to put the child in the car seat-that's borderline unchivalrous not to help you lift something heavy)
Another thing to keep in mind: If all your husband likes to do at home is watch TV, chances are, that's who he's always been. It's rare that a totally industrious, motivated, creative, restless, hungry for knowledge, teacher at heart, hands-on explorer, ravenous-reader-workaholic SUDDENLY has no interests in his spare time when a child is born. Chances are, YOU'RE stepping up and seeing what's best for your child, but your husband is still just a nice dude who likes to chill. This is normal for lots of dads who are still just dudes. Therefore, grow you cajones and make some lists and enforce. Lots of women have to! Myself included. And sorry if this was off base.