The touching is to keep you in limbo. A wayward's goal is to keep you in check and have fun with other guys at the same time. It's purely an ego stroking play on her part. There is no affection or any of that behind the action.
Your choice here is to actually enforce your boundary stated previously or continue to let it slide.
Why are you negotiating your marriage? Appeasement does not work.
I hope those who advised you to sign those papers were legal advisers and not friends or family.
I would be going for full custody of the children. Documenting and finding facts to back up that custody issue. I also would be going for childsupport and spousal support. I would only be communicating this with my lawyer. I would not tell my cheating spouse of my plans. I would prepare them and then enact them. I would not be worrying over trivial stuff such as cheating wife touching hand while driving. I would calmly just say. You lost the right to touch me when you committed adultery. Do not touch me again.
That's my advice. I believe in a strong stance against Adultery. I believe in protecting your rights as a father. I believe in personal-growth and healing. I am very pro healthy marriage based on strong boundaries, communication and trust. I do not believe in limbo.
Flowers always make people better, happier, and more helpful; they are sunshine, food and medicine for the soul. unconditional love is awesome!