SF, Your h does regret moving out and yes, he does miss all of you. He's got scared of recommitment and had not finished dealing w/his own issues. He really did want to move back home, but he just wasn't 100% baked. Time will tell when the baking has been completed.
In the meantime, take care of yourself. Do things w/your children and even though your home is "small", you will and can find things to do and places to go that aren't expensive. When your h sees that you are moving along and enjoying life, that is when he'll really begin to notice that life isn't sitting on the sidelines waiting for him to catch up.
He'll drop by when he feels it is safe. Don't worry, he will.
Enjoy your Sunday!
Sit quietly, the answers will reveal themselves when you least expect them to. The past is gone, the present is a gift and you need to focus on today, allow the future to reveal itself when it is ready.