Ive been through this and made the mistakes.
Yes, there are variables, however since you were a carer for kids for so long it IS highly likely that you get more than fifty per cent of the house.
Assume if there is disagreement you might try mediation.
Has anyone filed for divorce yet? If not, that is the first step in the process.
If kids are over 16 then I don't know if children's matters hearing will be held, I shouldn't think so.
After that there is a finance hearing.
Very, very important is you get documentation of everything that you can. Mine turned up to mediation and said he had 'forgotton' to bring his pension documents. Be prepared for that.
Can't see any reason if you want to stay in the house that you shouldn't .
Child of sixteen is still a child legally and you will need to ensure a stable environment for them, at this crucial stage in their life. For at least the next two years. And after that, depending on what they are doing, they will want to come home from college etc.
If you need to pm me regarding all this please do. Good luck.