Your life story is quite amazing. You sure were dealt a bad hand early on, and it contributed to some of your poor choices. But like you say, because of the sh!t you went through, you are determined to not allow your kids to endure but a fraction of it.
How are things on the legal front?
I am lucky in that I got my W to move out early on. Living together as an estranged couple has to be very difficult. Can you see a light at the end of the tunnel as to when you both can reside at different places?
Is your L working with her L to come up with a parenting plan?
From reading FaithIsBelieving's saga, it just seems very difficult to reach an agreement regarding the kids when there is the whole issue of living arrangements and financials pending.
I really hope you get a fair deal in the D. It can be costly, but I can honestly say that after it is all done, things will settle down and you may even enjoy life much more as a single father. I surely do as my W was a selfish brat. Freedom!
Coparenting post divorce is not always a bad thing if both parents can put the past behind and move forward with the kids best interest in mind.