I don't think a judge would take any action...having your SO sleepover is a pretty common thing, I think. I think it was totally inappropriate-- but it wouldn't qualify as abuse or neglect. There are lots of things about him that make him a good dad, too--its just frustrating to watch and to try and counteract his bad choices.
I feel so deflated the past few days. I'm trying really hard to work on forgiveness but can't get there. I'm working with a lady at church and she said you can't get to forgiveness until you get through the anger and grief. I'm just stuck in both of those things. Right now I can't believe I ever married this guy--I can't remember anything good about him or our marriage.