Did my dad cheating on my mum mess me up?

I've always wondered if my dad cheating on my mum messed me up when I was younger. I've never been able to have a relationship nor have I ever been comfortable enough to have sex. I'm not sure if that's just me or if it's due to things I witnessed when I was young. I just find it extremely difficult to trust people even when they haven't done anything.
Did my dad cheating on my mum mess me up?
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