I think it’s a blessing you have your sons. With all ups and downs of raising family, they bring joy (even if things with raising kids aren’t always roses and butterflies). Marriage could be a challenge, regardless if it’s a happy one or a challenging one.
Nothing is ever perfect but knowing that the kids are thriving and now new generation is coming up and it’s an exciting mystery about them and their future, you know you did the best you could (as all of us) and you and your husband did something (a lot!) right. Give yourself a pat on the back and enjoy your sons company