Cheating question (no judging)

Has someone ever cheated on their spouse and stayed in the relationship without issues? My husband and I had a huge fight a couple years back and "split up" before he went away for the weekend. I went out and drunkly hooked up with a guy friend which I instantly regretted. I came clean when he got back and decided he wanted to work things out. He was upset but I broke ties with the friend and we worked through it. Now it is about 2 years later and I still feel like it is a hidden issue in our relationship. He doesn't like for me to go out with any girlfriends for drinks or anything but it's ok if he goes out or we go out with his friends. Hell I even let him go out of town with his friends over the weekend. He doesn't like my best friend and doesn't trust her so we can't go out and drink together. I understand that I was the one that messed up and made the mistake but how can I get my husband to let me go out and start to trust me again. I almost feel trapped like he is using this situation as a crutch to keep me from going out and having a life. Any advice for anyone in a similar situation?