I shagged a prostitute behind a girlfriends back. After that I shagged a few more. The guilt wasn't great but the relationship wasn't in a good place and her interest in sex was so low it felt liked a serious achievement when she did all of a sudden want to fuck me.
Shortly after my infidelity I ended the relationship. The only difference, if I hadn't been cheating on her, is that I wouldn't have felt like I was to blame for the relationship ending.
If you're in a relationship that's not sexually fulfilling but you stay then it's up to you to deal with the guilt. Lots of people stay in bad relationships for poor reasons, you're not alone.