Not to avoid asking what might seem to be the obvious but do you know that he has had sex with these escorts? If he has had sex, how does he know whether or not he might have an STD, or other disease? do you know you haven't caught any disease? Have you been tested? Has he?
How can you still feel about him still being a good man while putting you and his family at risk? Other outsiders opinions are irrelevant. Only you and he know the real story. Only yours and his opinions are what matters.
The best advice anyone can give ..or the best input/advice would be...to ask him directly. In fact, ask him in the exact same way you asked here.
After all, it's only the two of you that can really answer and be the most helpful to working all of this out.
If he's as good a man and hubby as you say he is, he'll do the right thing and mend his ways. Actions speak louder than words.