No need to explain again because I’ve read your previous posts, OP, but I really don’t understand how you couldn’t have predicted how infidelity would affect your DH.
I can understand not thinking about how it would affect him and pushing any guilt down, but the lack of understanding and empathy is something strange. Have you never worried about your DH? I mean worrying about him getting ill, etc? Worrying about losing your relationship somehow? When he ‘didn’t meet your needs’ or maybe stayed late at work or whatever, did you never have a moment’s pang of fear that he might leave you or have someone else? I don’t mean a pang of jealousy, but a pang of fear for the potential loss of your loving relationship?
The whole way you write sounds arrogant. You say your DH wasn’t meeting your needs, but could it maybe also be that you were taking him for granted? That you’d assumed he’d always be there, like a loyal worshipper? Perhaps it’s just the way you wrote to try to hide who the betrayer was, but you sound like you see him as beneath you somehow.
I don’t know whether the counselling will work as that depends on you and your DH, but I don’t think you should assume anything about your DH. Will he ever look at you the same way again? Will he trust you? Is he secretly making his own plans for the future? You see him taking the DC away as him doing it in consideration of you, but perhaps the main reason he’s staying in the marriage and working on it is because he’s afraid he might lose his children and they might suffer if the relationship broke down. I think you’re maybe over-estimating how much you are part of his motivation.
In marriage, it can be easy to get stuck in a rut a bit and neglect each other’s needs. The key to that is to kindly but clearly communicate them very early on as soon as there starts to be a problem. The difficulty is in doing this without the other person being put on the defensive. If nothing else, I hope the counselling helps you both to find a way to do this.