Her mind is just now starting to come to grips with the idea that it may actually be a good thing that he is gone.
Also though, she wants him to "pay" for hurting her and this is the only card she holds. The kids.

Admit it or not Emily, that's what is happening here.
I'm not saying it is a conscious decision to keep him away from the kids...but it IS the only way YOU can hurt HIM and the fact is MANY women play this card.
I CAN'T STAND WOMEN THAT DO THAT!
IT IS WRONG!!
TAKE THE HIGH ROAD.

Emily, I don't doubt that this happened.
Based solely on what I know of his background it is plausible.
However, since you apparently never saw fit to report it, unfortunately a court would probably view this behavior as having been "forgiven" once you let him back into your bed. That's the ugly truth about the way it is in Virginia. Maybe Pennsylvania is different but if you have never filed a police report you don't have much of a leg to stand on.

Here's the deal:
He is a truck driver now and the likelihood that he will even try to get visitation on the random 4 days a month he will be "home" (where ever that is) is slim at best.
I don't think this is a real concern at this time.
Should it be later, the best thing you have going for you is ALL THESE DAYS he has voluntarily stayed away from them and all involvement in their lives. Unless, he is stable with a VERY MUCH IMPROVED lifestyle, I seriously doubt a judge is going to let him take those girls a few hours away from you to a place they don't know with a man they rarely even see.
THAT is your legal strategy, NOT trying to say he is abusive and unfit. You'd really better take a long, hard look in the mirror before you attempt to do that because he will drag every skeleton you have into court to fight you.

Let this go for now.
I really don't foresee him seeking visitation.

Drop the abuse claim.
Now.
Whatever he did to you, REMEMBER IT.
For when you're crying because he's gone.

Girl, you've just been set free.
Don't grab that cell door and shut yourself back inside.