Should I go (mom guilt)

Ok I might sound dumb or overly sensitive but I got invited to go out with my sisters and mom shopping for the day. Nothing special but it is special to me I’m a sahm never do anything that doesn’t involve my kids, anyways I want to go spend time with my family but I also have such guilt leaving my kids (with dad) yea I know I might sound crazy but my kiddos are so attached to me as am I to them. I want to go but I can’t...??!! My husband encourages me to go he says he needs this time with the kids since they are overly attached to me. I have until 9 am to figure out what to do. Yea I know I’m a mess. My bay boy is 16 months he’s so close to me he wants me over dad and my 3 year old just has more fun with me and once they wake up and realize I’m not home idk how they will act plus I have mom guilt. Will I even enjoy myself if I have all this guilt 😢

I’m so serious I’m not sure if I have separation anxiety and it’s just not me anytime I run out for errands my baby boy cries for me, not my 3 year old she understands but idk not sure what to do. I know I need time away but .......

Opinions please