I'm not sure what you should do, because I don't know your H.
If you agree on CS, do you have to go to court over it? Why not just agree on guidelines and have the judge sign off? That would be a mutual olive branch and a first stepping stone down a cooperative path, whether you go back to being a couple or just remain coparents.
If it had been me, I would at this point agree to MC. I think I understand what he's saying about dating without talking R. He wants to turn a new leaf. However, that may not be possible for you without having some questions answered. In some ways, this reminds me of H (and anyone else who cheated), who just wants to move one and forget about the A.
But getting your questions answered isn't going to immediately make you want to risk your emotions. A slow process with 'dates' may tell you over time what you want.
I don't see abuse in your situation, but your H seems selfish. Everyone has flaws, it's just about what you can live with.
M 16 yrs, WH62, P54 3 adult blended kids EA 11/13, BD1 6/14 PA fall 14, BD2 2/15 Piecing 2015, BD3 12/15 Separated 4/16 WH moved OW in 5/16 Divorced 6/15/17