Has it changed my life for the better? I think so, yes.
Has it made me happier? Possibly not.
That said, I think the focus on "happiness" is possibly a red herring. Research inevitably finds that having children makes people less "happy", but research also finds that reporting that you feel happy is influenced by quite fleeting things (a nice meal, a hot bath, etc) so mostly, people are just reporting "I feel contented/in a good mood right now". (And honestly, what the research mostly seems to show is that having children makes you knackered and irritable for a while. People are least satisfied with their marriages during the infant and teenage periods, i.e. when they are getting least sleep!)
I think it's more about meaning. Having a meaningful life, as opposed to a "happy" one, has been shown to make people live longer. And my life is definitely more meaningful now. Life, in many ways, is simpler and more straightforward: I am here to make sure my son is safe, happy, and loved. It's been good for my mental health. I don't live in my head any more. Partly because I'm busier, so I don't have the time. I spend less time worrying about my competence and more just getting shit done. I don't love my husband MORE, exactly, but a layer of richness has been added to our love. And I laugh more. There is so much joy in playing with your children and making them laugh.
I also agree with this:
Weirdly I worry less and feel far more competent and capable than I did before. The world got a whole lot less complicated and scary.
That said, I'm not sure it's the right thing for you, because all that stuff you say about needing space, care, etc? You will lose all of that. I'd be very, very sure it's what you want and you can cope before you go for it.