If there is not too much animosity already and there sounds as though there is not, I think a mediator could be good for you. Even if you can't agree on everything, at least there is less for litigation.
I have seen 3 different types of mediators. 1 decides what type of settlement should be reached and then try and guide the parties to that. 2 those that try and work the parties to a settlement by keeping them negotiating (my favorites). and 3 those that just don't really care and throw the towel in very quick. Ask around about them before you pick one.
Me 41 W 33 M 2013 Suspect A 11/15 Confirm A 1/16 She moved out 2/14/16 Stepson 13 Stepson 16