Go to the home, it's yours, don't worry, you're allowed and tell her you're moving back home to be with your kids, not her. If she doesn't like it, she is free to leave at any time.
You hesitate and you show you are still afraid to do this, I get it, I understand but being afraid is just about fear, its a feeling, it isn't a physical object or barrier that is physically stopping you from doing anything.
Getting your solicitor or lawyer (I'm assuming that's what solicitor means) involved, for what? To spend more money on him? Are you guys even legally separated?
