[pseudosudoer]

Wow, this is eerily similar to my previous employer (even down to the industry!). I loved loved loved the product, my role in it's success, and the problems I was tasked with solving. Unfortunately, humans can take all of the fun out of robots.

I too pride my self in stress resilience, but at a certain point I realized the joy in my work was offset by the annoyance of interpersonal issues. Leaving the company was bittersweet. I was still going to work in robotics, but it certainly wasn't as "cool". Now that it's been a few months at my new gig, I realize my QoL is much better as I actually enjoy the people I primarily work with.

Providing ultimatums to upper management may cure your woes, but you have to be willing back up the consequences you promised. So if action isn't taken by the CEO you'll need to fulfill your promise of leaving, or at least get an offer to show you're serious. If things don't change when you show your strongest hand, that's definitely a sign it's time to leave.