I too believe that RTL is going to come out just fine. His W may hold resentment, but that is her problem. I just hate to see people like her that use the kids like a bargaining chip.
Bizarre - Having my kids witness their mother kissing OM was the primary reason I filed for a D. I knew about OM and had told W to not introduce our kids to him while we were still married. I actually found out from the kids they were introduced and that W and OM were in a PA. Nice.
My L said I could get full custody, but I thought about it and realized that it was in their best interests to be in a 50/50 custody situation as W is actually a good mother. My situation is so strange in the OM at 68 is 31 years older than my W. The kids kind of think of him as a grandfather from W's side they never knew.