You aren't failing anyone if you wind up having to relocate for your work. First of all, I believe God has a plan for you, and if you follow it you won't be failing anyone. I also think even if you relocate, you would still be a heavily involved parent, during summer/breaks, and everyday by email and phone.
I also think you're not giving your boys enough credit. My 10 year old just had a semi-long conversation with me Friday about how different she thinks her dad and I are. For some reason, she brought that up and I guess it bothers her to some extent. She said he left his family, he had a girlfriend while he is married, and stuff like that. She clearly knows what's going on, and I do believe she knows right and wrong. I just listened to her and didn't say anything really, and held her hand and gave her hugs. Don't know if I could have done that a year or 2 ago....and believe me God is watching over you and will take care of you and your boys.