Mine were 4 and 6, and we separated 4 years ago. Most liberating thing I've ever done.
They're both close to their dad and he didn't want a divorce, so made it really difficult with unnecessary court proceedings for a very extended period.
I also moved us out to a 3-bed house, mainly because he refused to move out.
Still, despite the tough divorce process, I managed to get a clean break and have never been happier.
He's still angry that I left but we're civil, with minimal contact.
Our kids on the other hand, have adapted beautifully. We have shared care arrangement and he lives 5 minutes drive away so they spend a good amount of quality time across both homes, and they are happy children.
Although not a great exH, he has actually become a much better, more involved dad. So, it's been even better for our kids. They certainly have a much closer relationship with both of us separately, because we have quality time together.
For me, it's been perfect too. I believe I'm a much better mum because I have my me-time when they're at their dad's - spend time with friends, have my hobbies, focus on my self development and on growing my business (which has thrived hugely).
As others have said, the divorce journey can often been rocky but the destination (peace and for me, a calm and fun home) makes it all worthwhile. Zero regrets here.
Good luck!