Husband Cheating

We been married 10 years and SO cheated 3 times. last time was 3 years ago. Since those 3 years we been to marital counseling, he receives indidivual counseling, church, open communication has been good. The thing is i dont really have any complaints but i stayed cause i didnt know anyone. now that i met friends i sometimes think i should of been left. there is nothing wrong besides we are now ttc #1 and he has low sperm count.  he does whatever i want to make me happy but i feel like he should of been this man i needed  years ago. also i see other handsome men and wonder if i had just left