You have five years invested into the relationship, with four of them good, — and two children. With an 80% “good year” rate and two children, the risk of leaving is a lot higher than in some other situations. Also, you talk about wanting freedom as your main problem — but when you got it by cheating, instead of enjoying that freedom, you ran right back to your husband and confessed. 😕 That doesn’t make me think you really want freedom as much as you want to shake things up in the marriage. Also, it sounds like your husband has also been having problems in the marriage — he’s looked outside the marriage for a sexual and intimacy connection. So you’re both in agreement that there’s a problem in the marriage.
I know you want to leave — and in theory, that’s the easy out and a seemingly quick fix to the problem — but the reality is not so easy and it’s not a guaranteed fix. You’ll have a custody agreement, and you’ll probably have to downsize. If you’re not working, you may need to. You may also find that you repeat the problems from this relationship in your next one if you aren’t really analytical and clear on what’s gone wrong and why. So, why not approach the marital problems first and see if you can’t fix them? You talk about “freedom” but you both went to sex outside the marriage — there’s a difference between freedom and sex, so be clear on what’s wrong in the marriage. And then decide to try and work on it. 😉
Of course, if you’ve already decided to leave the marriage, then let me know if you have specific questions about how to do that.