Welcome aboard, I have been through this very issue myself.
I stayed in a marriage for many years only for the kids.
I am happy to be divorced and even though my kids were young adults
at the time it seems I still came out the bad guy.
I am and always have been a good and solid father to my kids but I guess
it was tough on them and somehow the man usually takes the blame.
I waited years to move forward with the divorce and in the end I feel like it
made a little bit of a difference but not a huge one.
They had a stable home to grow up in but they told me they knew something
was wrong for a long time.