Cheating, GPS Tracking Dilemma.

I feel like I already know what most of you are going to advise me to do, but I just need to be reasoned with. I have been with my boyfriend for (16-21) five years and he doesn’t trust me for a variety of reasons, some understandable. I was at another guy’s house and he was waiting for me outside. He caught me cheating by putting a GPS tracking device under my car a week before. He grew suspicious and orchestrated this entire plan. Although it was never physical, I cheated and he caught me by being in my opinion crazy. There are many things both of us have done to damage our relationship. He doesn’t trust me and I think he’s controlling and crazy. We decided to work things out and vow to never cheat or do anything crazy. However, he is still acting crazy and accusing me of a lot. Do you guys think it’s worth us staying together and trying to fix it? We both love each other so deeply to a fault now. Love is the strong underlying emotion in all of this. I understand I cheated, however my side is that I’m afraid of how far this crazy love will take him. If he put a GPS on my car based on doubt, how much further is he willing to go now that he has found out it happened once? I don’t want to live in a cage or pay a lifetime for my mistake. We have so many memories and love each other so much, I feel like we’re truly soulmates, but now we’re in this situation. What do you all think?