Right, so I'll buck the trend. First, no one can tell you if you missed out. Only you can answer that question for yourself. Since you can't go back and change history, you only know what you know and you live with what you have. You sound happy though, so go with that. It doesn't matter what anyone else thinks. You and your husband have something very special, that's awesome. Good for you.
I think you're asking what it's like to be with other people so you can compare it to what you have. A lot of people who have experiences similar to yours are telling you that people who sleep around generally regret it. Maybe in those circles, yes, but I'll tell you my experience for a different perspective.
One, it's not all about clubbing, bar hopping, drinking, and meaningless hook ups. When you are really young (teens-20 or so) life is like that a little bit. Mostly, you are just selfish. You do what you want, when you want, and it's a really unique time where you get to know yourself. You make mistakes, you do stupid things, and then you start to grow up. I definitely don't want to be 20 again, but I don't regret what I learned or the mistakes I made either (I'm really not limiting this to just sex, there is a lot more out there than that).
But with respect to sex in particular, I'm married now and I am SO glad I had the sexual experiences I did. If you are in a healthy place, with a good understanding of who you are and what you want (vs. looking for love in all the wrong places) it can be a fabulous time in your life. I met my husband when I was 22 and sometimes I wish I had had even more time to explore. Not because my husband is anything less than amazing for me, it was just fun and exciting and...educational :) There is a rush to kissing someone for the first time or even just touching them. It's fantastic. If I could bottle it, I'd be a billionaire.
I am clearly not invested in any faith based decision making here so if someone reads this and wants to comment on what a soulless sinner I am, it's just a difference in opinion, okay? Not all sexual experiences are "sex and the city" but I'm not exactly cuddled up in a corner weeping over my "regrets." I have no regrets, and neither should you. Was hooking up with and dating different guys fun for me? Absolutely. Was meeting the man of your dreams at 17 wonderful and fun for you? Absolutely. I suppose you and your husband could always play "meeting for the first time" and go to a hotel or bar or something. That could be fun maybe you could try it. It kind of gives you that thrill I was talking about before.
Either way, cheers to you, have fun, love your husband, and do what you need to do to preserve your great relationship. No regrets, just love. Lucky you.