Have you ever tried listening to the recordings of musicals before going to see them on stage? Knowing the songs in advance sometimes makes folks feel more relaxed when seeing the show itself -- it takes off the pressure of "I have to sit here bolt upright straining to hear every syllable or I'll lose the plot and the plot is weird anyway...." It might let you relax a little more and take in the show as a whole package.
I noticed that you mention only the really massive shows that are giant, loud, BIG productions like Phantom, Les Mis, Greats, etc. Go see some shows that are (1) not musicals at all or (2) musicals that are not the big, bombastic, spectacular musicals. If you're "a very practical person" as you say, and you don't like all the sloppy emotions of the gargantuan musicals, have you ever tried seeing a good, modern drama instead? You might find that you are seeing people a lot more like you up there on stage.
It's sad if you let an assumption that all "theatre" is Broadway-style musicals stop you from trying other forms of live shows.
If you like humor, go to funny shows like "Avenue Q" (only if you like VERY rude humor; it's like the Muppets but extremely "blue" though very funny if you like that) or political comedy revues.
I know several women who would love to borrow your husband. The wives like to see shows but their husbands cringe and whine and only want to watch sports. Be glad your husband at least is interested in something that does not involve some form of a ball.
Full disclosure: In our house, the one show that is sacred is "Guys and Dolls." Try that one but do not get the terrible movies that have been made of it. Wait for a professional stage production that does it right! And....listen to the music first and even read the short stories on which it's based. Fun stuff. Not practical, for sure, but a long way from the bombast of Phantom or Miss Saigon.