Autumn, this sounds like a great plan, and a great start! Having some formal agreements in place, and him being able to spend time with the boys (and helping out with the yard), with your permission, is good.
This gives you each your own space, and allows him time to decide if a new marriage with you is more important to him than his other desires. Ifhe decides to do something about those, perhaps you guys can start dating each other, exclusively, for a period of 3-6 months and see where things go.