I think long relationships are hard, the baby years are hard, having a child (and especially having more than one child!) is very hard.
It's hard on individuals and it's hard on relationships.
The key thing for me is when your kids are grown, can you look them in the eyes and say: I tried everything to keep our family together?
For me that looked like asking DH to do couple's counselling, which he said yes to. Him giving it a real go and then having solo counselling on advice from the couple's therapist. Him giving that a real go too, and making real changes.
DH really listening (and me having to listen to, to the things that I did in anger and frustration that made things worse not better). Us both feeling valued again, and seen again. Things feeling better between us again, the jokes coming back, the intimacy.
If your DH says no, ignores you, belittles you, won't try - then it might be time to walk away.
But for me, when I really tried doing everything I could to save my marriage, it helped massively.
I have no crystal ball so no way to know if in 10 or 20 years we'll still be good or will have split.
But I think there are a lot of people on MN who are very quick to push all blame to their OH, decide they are the butter-wouldn't-melt innocent victim, and smash their families to pieces.
I wish you all the best whatever you decide to do 