Reading your thread OP, this relationship has characteristics of an abusive relationship without, apparently, the abuse.
If I met your husband I would not think he was charming and charismatic, I would think he was an irresponsible arsehole with balls bigger than his brains.
Your sense or 'normal', your boundaries have been so warped by exposure to him that you are not seeing him objectively.
My husband is an athletic type, he likes ski-ing, climbing, surfing, riding, diving, cycling etc, but never, never in all the time I have known him has he ever put the children or me in danger. Ever. There is a big difference between liking some more risky sports and putting other people's lives at risk.
Reading through your posts the main question is what hold does your husband have over you that you stay with him despite his sociopathic behaviour? Why would a clearly intelligent woman stay with a man after he put her and her children in danger multiple times, whose own solicitor recommended that contact be limited with the children for their own safety, who has cheated on her, lied to her, whose own son is now devastatingly affected by the dysfunctional family dynamic, whose own friend called her to say he was pissing everyone off on holiday - how many indications that this man is a disaster do you need before you listen? If you won't leave after risk to your life, infidelity, your son's breakdown - what does he have to do to break the deal? Kill someone? Because that's all that's left..
This is why I say your relationship has characteristics of abuse. He has the same kind of power over you that abusers have. You are completely in thrall to him, addicted to the highs and lows and the sheer stress of being around him. Addicted to him in fact. Perhaps he's not the only adrenaline junky, perhaps you are too? You say you stayed for the children, but I think you stayed because you couldn't tear yourself away.
In abusive relationships there is what is called 'trauma bonds' where the victim forms strong bonds of loyalty and attachment to the abuser in spite of detriment to the victim. He has put you through multiple traumas in which your life was at risk and that has caused you to bind yourself to him intensely. So desperate are you for his approval, that you will take any risk, make any sacrifice. You are furious with him and en-meshed with him at the same time. At bottom 'trauma bonds' are a survival mechanism. In order to rationalise your need for him you say - 'no marriages are perfect, maybe all thrill-seekers are like this, I stay for the children'. In fact, you stay because you are so tangled up in this man you have lost touch with yourself, and you cannot get free. You cannot even see right from wrong anymore. This man is destroying you and your children. At the moment it is clear you would rather go down with the ship than jump free.
I think it is really important not to go to relationship therapy with him. He will continue to manipulate you in therapy. He has a vested interest in keeping the marriage going as it suits him. Who else will fund his adventure holidays, indeed his entire lifestyle? He will never get that elsewhere. He will dangle the carrot of 'working on it' so you continue to be his servant. You could carry on like this for another 10 years. He has no intention of changing, he is fine, it's you who are on your knees. You need counselling alone asap. You really need a third party to help you see his behaviour for what it is.
Your first priorities should be yourself and your health, your son and your daughter. The first step back to normality out of this madness would be to kick your husband out. If he has to find somewhere new to live and work that's his own lookout. Peace at home would no doubt help your son enormously. Your husband has come first for far too long.