OP - I deal with this type of software in a professional capacity.
I can think of three programs around £150 a year, which would allow him to do what he's doing. Unfortunately, I don't think he's admitted the full extent of this to you yet - he hasn't described some key features and from what he's said and done so far, I don't think he's the type to have deactivated them.
More importantly, though, is that they have a "fake" delete set up, which is for use if you're "caught" by who you are surveilling. Essentially, it looks like it removes everything, but really the apps just regenerate. In your case, it's unlikely to show as "radio" now, it'll probably show as an Android system file. This is more secretive, because most people don't have a working knowledge of which files are real and which are not, but it's usually the back-up option because there is a higher risk of the OS being destroyed if DH tries to delete it and picks the wrong file.
It is very, very likely that he can see everything that you are doing digitally, via your phone, laptop and iPad. He will still be able to record your home, your calls, your images, your life. He has calmly left because he can still know every movement that you make. I'm going to hazard that he's probably tracking your car, too.
You could test this, of course, by setting him up. Park at a male friend's house, take a photo of someone that looks dodgy, send a suspicious text. It's likely that he'd be on too high alert to confront you though, as it'd reveal that he's still surveilling, so he'd probably just increase surveillance in all honesty.
What you do about your marriage is up to you - and you'll need to get legal advice - but please don't trust him on this. He's been spying on you without saying a word, and ensuring that he carries out the tasks necessary to keep it legal, for TWO YEARS. Listening to every conversation you have. He has stripped you of all privacy. He knows everything that you have told your friends, everything your friends have told you... everyone you've spoken too.
You might have nothing to hide, but he did. This is an obsession for him. He believes that he has so much power and ownership of you that he can track every movement and conversation that you have. Be very, very careful.
My extensive professional opinion would be that men like this don't change, they can't. They may pause activities but they start it again as quickly as possible, but more covertly, and tracking more things to see what you were trying to hide. I've never heard anyone in this field testify in any other way. They all act sad and upset that they've been caught, embarrassed, they try to justify it and claim it got out of hand and it was never real. It is. He paid to track you, he checked out the legalities, he hid it from you.
Someone who can keep such a huge scheme secret for two years - never slipping up and revealing that he knows something you haven't told him - cannot be trusted. Ever. You cannot rehabilitate him.