Sounds like you had a pretty darn good day with the family, considering the sitch and all of the possible alternatives, eh? That's neat that W joined you guys on the floor this time -- IMO that shows she's done some reflecting and maybe feels that being closer as a family is something she would like to work on (or something along those lines -- bottom line, she made a conscious choice to do that).
And you're right -- sounds like you've got some pretty great kids, there! Your S16 making sure you were okay after W left got me teared up a little bit (but that's not hard to do!)