Originally Posted by DancingFool
If divorce is a viable option, then do it and do it specifically for the sake of the children. They are living in a toxic environment with two parents who basically can't stand each other and they feel the stress and the tension of that. They are not oblivious to the dysfunction of this and it's causing them life long harm because toxic is what's being modeled for them as an example of human relationships. They will be affected in their own relationships from this. Better to part ways and show them what happy parents and loving relationships look like, including that sometimes you have to make hard choices and leave what's not working out.
You aren't a bad person and likely neither is your husband. However, you both made the mistake of marrying each other while completely ignoring the glaring incompatibilities of who you are as people and how you envision marital life. You've both cheated on each other. That's a whole other can of worms, but let's say the relationship has been completely dead for a long long time. Incidentally, please stop cheating and then get a divorce and start your life clean.
Basically, your husband and his family are not your tribe, not your people and likewise, you and your family are not his tribe, not his people. Marriage is not about trying to change each other to be someone else, or about you becoming a compliant wife on par with a kitchen appliance, it's about finding mutual understanding and compatibility. You two have tried long enough to be clear that's not going to happen and probably never existed between you. You aren't alone in making this mistake, but don't keep compounding it. Free each other and show your children that there is better out there.