Marriage counselor told me she thinks I should end my marriage

Me and my husband have been through a lot for a chunk of our marriage. I feel like things started to change when our kids started to get older. We have 3. 15, 13, and 10. All boys. There are times when it genuinely seems like he regrets being a father and we have fought so much over it because of things he will say to him our kids. Mainly the two older ones. Example, the when my oldest had a girl tell him she thought he was cute my husband right away said "No you're not." Why we are in marriage counseling is because he accused me of loving our children more than him and blamed me for his behavior towards them. He confessed in marriage counseling that he takes his anger out on them because I show them more love them I showed him. CPS got involved in the past because my older child was struggling with some depression and I decided we were going to have a mother son day as a pick me up. My husband got mad and "jealous" that he started a fight with him and said he could care less. Well my oldest being a bit of a smart mouth said "It's couldn't. You COULDN'T care less." So when he walked away my husband grabbed him and yanked his arm so hard he dislocated his shoulder and refused to give me keys to the car because he felt he was over exaggerating. After that CPS stuff and my husband having to take parenting classes I demanded marriage counseling and he blamed everything on me. I love the kids more than him so that's why he's mad. It's my fault. He didn't take responsibility for anything. He said he grew up in a house where your husband comes first. My parents wanted me to work it out because they said it can be hard for a man when his wife is showing other male attention. I've tried to save my marriage but he has now cheated on and even defended that. He cheated on me with a 20 year old girl and he defends it and even defended it in marriage counseling. My oldest son has a crush on our neighbor who's 20. He's 15. It's normal for 15 year olds to have crushes on adults. My husband's reasoning to cheat on me with her was he didn't do it for sex. It was to assert dominance with our teenage and MADE OUR 15 YEAR OLD WATCH! My husband's disgusting thought process is having sex with a girl our child as a crush on asserts dominance and let's him know his place. When he told our marriage counseling this and his reasoning she told him "You know I have to report this." My heart sank because we already had a problem with CPS. She said what my husband did was sexual abuse on a minor. He said nobody touched him but she said it did not matter. I wanted to cry. My husband stormed out and she told me that she's not one to say this and she hates throwing around the word narcissist because she feels like that word is over used. But my husband has some severe narc tendencies and she thinks at the most we need to separate because she has to report this and CPS would be less likely to potentially take my kids if I show I kicked him out. She said she can tell I love my kids and I know I want to save my marriage but feels this is toxic for me and especially my kids. Christmas is in 4 days. And now I'm being told it's probably best if I leave my husband when I've fought for so long to save this marriage. I don't know what to do.

@G my parents are very religious which is why they said to stay. Me and my husband have been together for 22 years and they believe in salvaging a marriage as long as he isn't beating me to death.