I think there is a lot of things going on here. You guys are trying jump back in too fast. You took him back too easy. If you don't make him work and earn it he will just walk again down the road. You are pressuring him. You are listening to his words and not his actions. He can't 100% guarantee you he's never going to walk again.
I don't think you messed it up I just don't think he's completely committed.
