I empathise with everything you've written OP. I am an owner of a reactive dog and it can be very stressful and dominate your life and thinking. Every plan has to be considered around managing them.
My dog unfortunately has bitten drawing blood in the past, but has not done this in over a year now (age 5) and is generally so much better behaved than when he was a young dog. I think your dog by the sounds of it has shown a degree of bite inhibition, which is much more positive. I think Ian Dunbar has a dog bite scale for this which you can read about.
What has helped my dog is to ensure he has adequate rest - his behaviour was always worse when he was tired. So we did crate training and had crate rest periods to help address this.
Establishing a calm authority over him was important too - he needed to know, as another poster mentioned, that we were in charge of keeping him safe. I think they can sense a void of authority and then think - well who is in charge here, it must be me?! But this authority is achieved not through any confrontational means, and it is hard to establish this when they are over threshold and reacting as they can just push back harder. Rather we really doubled down on general training, all the standard commands and some extra ones, and used them regularly to maintain that calm authority over him.
You can work on desensitizing to body handling which may help make him less reactive to touch at other times. Grooming, massage, lots of treats whilst doing this to create the positive associations...building up to areas he is less comfortable with but safely and never pushing it if he looks like he may react (you will know his body language).
You will have a lot of managing to do as you already know - managing where he is when he eats, where he is when you eat, where he is when you have children over. A safe space is really important here, and if you are crating bear in mind that he may become protective of that space, so it should be in a room no children can access. You certainly do not want a situation where fingers are put through crate bars. I have a soft crate which means that is not a possibility.
Kennels are best I think for when you have to go away. You will probably worry less about him and good kennels are hugely experienced in working with all manner of dogs. I give mine the heads up on him in conversation and take in a print sheet of reminders of what he may be reactive over.