if he does now acknowledge what he did? Is it too late now after so much denial?
In short, yes.
He is either a rapist who admits he is a rapist or a rapist who denies he is a rapist but the one thing he cannot be now, the thing you want him to be is a man who isn't a rapist. You don't get former rapists.
But its not the what he is that is the problem. It's the why.
He does not see it as rape because he does not see you or any woman as an equal to him. Therefore his needs outweigh yours.
Whether he admits it or not changes nothing because in his head he is always more than you, better than, more real than you, more deserving than and more right than you.
This fundamentally fucked up view will never change.
Not matter what he says to you, what he believes will never change.
You cannot let your dcs make decisions about this for you. They are not in full possession of the facts. You are not ruining their lives.
op you have been incredibly brave. You haven't had the support you should have had. Hopefully RC and WA will come through for you soon.