will it last?

Get counseling. Read your post objectively and ask what the guy is actually bringing to the table. Then compare that to every other relationship you've ever heard of. You have zero emotional connection, he treats you terribly, he puts zero effort into the relationship, he cheats on you regularly, and in return you put out for him.

Even if you were 300lbs you could do better.

> family and friends are telling me i deserve better
They are wrong. You do not deserve better. You are a doormat and have been one for six years. You will probably continue to be one.
> but i still want to try to work things out.
Things are already working out. He screws you whenever he wants to, the rest of the time he can't stand you.
> what can I do to make us connect a lot more and fight less?
Nothing.
>is it that he just doesn't know how to break up with me
It is you who obviously do not know how to break up with him.