crd - Re: trust building. The October documented plan was a great start, but in real life things are not that concrete and easy to implement. Simply saying what you will do, then doing what you said, is a great way to start. "I will pick up D3 at 4pm" - be there on time.
You've also mentioned your W complained you always put your needs first. Do you agree with her, or find some grain of truth in what she says?
Whether or not it's fair or unfair for her to distrust you, or accuse you of selfishness, I think there is value regardless of the outcome of your MR to find the truth in what she says, and think about what you can change for your future relationships (including R if that opportunity arises).
Note I am *not* saying her truth is more valid than yours. A lot of this process is sorting out what is yours, and what is not.
I agree on your approach to MC. Leave it up to her.