i have an ESTJ dad too, type 1. this all sounds familiar!
i guess for me, i gave up on receiving his emotional love a looooooooooooooong time ago... early childhood. it was just impossible to meet his standard for anything... everything was met with criticism.. after a while i learned to just do things my way and ignore his criticism. we're similar - i am my fathers son, but very different at the same time.
as an adult now, i see he was showing his love... but by being that rock, fixing shit for me when it was broken, providing meals, roof over my head, etc... all stuff i didnt notice/appreciate as a kid as i thought it was a given. what i was lookin for was emotional love... which i didnt get from him, and since mom worked 20 hrs/day , i didnt get much there either.