Relationships can and do survive this kind of situation. It is up to both of you to do the work to make it happen. Sometimes a disruption like this creates an opportunity to identify problems in a relationship so that they can be worked on. I’m guessing that “okay” hasn’t really been enough for either of you for some time.
You have two “beautiful kids”. From my point of view, they deserve to have parents who will make a genuine effort to rediscover the love and trust that are the foundation of a solid and happy marriage. The two of you deserve to make the kind of satisfying and intimate life together that results.
You haven’t been able to get past this on your own. I therefore encourage you both to get into couples counseling for the guidance and support you need to rebuild your relationships. You and your kids are worth it.
I wish you well.