My mom thinks that he is good for now, but as I regain my happiness and independence she thinks I’ll be better suited with somebody a bit more independent as well

Based on what you've said here, I agree with your mom.

I feel like I’m giving up my independence (ability to gather with friends consistently, travel solo if I choose)

You can find a partner that these things are compatible with. They are out there, you just have to keep looking. It doesn't sound like you'll be compatible with your current partner long term. You want a partner that is adventurous, outgoing, and encourages you to do things independently.

There is just SOMETHING bothering me. I have such a good man at my finger tips and I’m constantly feeling like by being in this relationship I’m missing out on other things.

Being a good person is like absolutely base line minimum. You shouldn't stay in a relationship that isn't fulfilling to you just because he's a good person. Sometimes relationships end due to incompatibility, there doesn't have to be a huge fallout, no one has to be cheated on or otherwise wronged, sometimes relationships just end because you want different things in life. If you're not fulfilled in your current relationship, you should move on sooner than later so you both have the opportunity to find someone who's a better partner to you.