I don’t know why you should condemn yourself to another five years of this. If for the sake of your children’s stability that sacrifice seems worth it to you, that’s your choice. But I’d suggest you go back into couples therapy and discuss the possibilities of divorce or open marriage. Your husband has reneged on one of the basic principles of your union, and you’re entitled to seek a physical connection elsewhere.
I might've led with open marriage, as the woman describes her husband as "kind, smart, funny, and a great provider," as well as a "fabulous father." In a case like that, I'd definitely suggest an open marriage first, divorce second. But that's a minor quibble.