Codependency Support Group
Codependency is defined as someone who exhibits too much, and often inappropriate, caring for another person's struggles. A codependent person may try to change, or feel shame about their most private thoughts and feelings if they conflict with the other person's struggles. If you are on a journey towards self-love, this support group is for you. Join us and find others...

I say, if you're happy, keep it the way it is! And, if you have kids, they can be love children, conceived, and raised outside of marriage! Don't fall into the stigma of "these are bastard children". Not true. Wouldn't children be happier in a home with happy parents, instead of parents who were forced into an uncomfortable marriage?
Your family will simply have to warm up to the idea, if they still want you in their lives.
I think you need to do some soul-searching and decide what you want. From your post, it sounds like you already do know what you actually want, but it is completely your decision (your life).
Good Luck,
Shar