Having been raised in a 'stay together for the sake of the kids ' family I can categorically say it was an utter disaster.
My father was bitter and snide, my mother mentally broken and me and my brother grew up with very disturbed versions of whAt relationships look like.
He ended up a registered sex offender.
I have been a drug addict for 24 of my 38 years.

There was no abuse to us as children, but the hatred that permitted our daily lives we what we considered the norm.
Neither of us new what a real relationship looked like, what normal non sexualized contact was.
No one hugged, sat together watching movies.
My father worked hard and came across as the stand up guy with the crazy, emotional wreck if a wife.
No one knew how disgusting he was behind closed doors, his bitterness was poison.
My mother was convinced, brainwashed that he was right, that she was a useless mother.

I am not saying this is anything like your home, but hate permeates everything. From your to be of voice to your body language.
My brother learnt women were to be used and were not entitled to refuse.
I learnt men were hateful aggressive and would control you if you have them the chance.

These lessons have left a bitter trail of destruction throughout our lives.

Ask yourself what your children will gain if and lose if you stay.

I will add we were very financially stable,and oddly we were quite encouraged as we grew up and made our life choices but that didn't save us in the end.

I have no doubt many will disagree with me, and they are obviously entitled too.
I offer no advice or words of wisdom. Only a perspective to consider from someone who lived through it.

All the best in whatever you decide.