Wow. Well the good news is there are a TON of things YOU can change that will help you get a happy marriage for both of you. The bad news is that most of it involves YOU changing. Not him. Are you willing to do the hard work?
Assuming you say yes, I'll give you my outline of what I would have you do. We can fill in more details later.
1) Help your son and daughter fix up their rooms, so that they feel like they have their own oasis in your home - a place they WANT to be, that makes them feel good.
2) Sit your kids down and tell them that they are too old to be coming into your bedroom without permission. Tell them you expect them to sleep in their own rooms, every night, from now on. You will be just down the hall, and they can call for you if they need you. And you will come to THEM. In THEIR rooms. This is non-negotiable. (btw, they were terrible sleepers because you
made them that way by not being firm about them sleeping in their own rooms; you
taught them to be that way)
3) Your bedroom is supposed to be the one adult sanctuary in your home. It is off limits to kids, ESPECIALLY 17 year olds! kewwy, that is bordering on mental/sexual abuse to allow them in your bed. Do you understand that? You are screwing up their mental 'truths' of what healthy human beings do; you are inviting them to look for dysfunctional marriages where they don't understand right from wrong. You are inviting them to look for abusive partners or become abusive themselves. You have to stop NOW, while you still have a little bit of time left to teach them before they move out and live their own lives.
I was reading in Healing the Shame That Binds You about early cultures, and how even back then, when humans were just learning how to live in communities and civilizations, they still knew that they had to (1) cover up their private parts and (2) keep SF out of sight, away from the kids. Kids needed to learn a sense of respect and awe for SF, and you do that by having a special place in your home that that is for. If your kids are welcome in there any time, they can't understand that you are supposed to honor SF in this way.
4) To that end, you need to take both of your kids in to their doctors, have them tested for STDs, get the girl a cervical exam, get the boy whatever you do for boys, and find a church leader or professional therapist, and have that person give them a talk on healthy boundaries on SF.
I'm telling you this, because if your daughter still sleeps with you - and where does your H sleep?! - neither of them can have a healthy understanding of what SF is and what it is for. And because they don't understand the 'rules' I would bet you money they have been experimenting for a while now.
Please trust me on this. I know what I'm talking about.
5) Sit down with your H and discuss your day to day lives. Ask him what he thinks about the things you do every day/week/month. Ask him what he would change. Tell him what YOU would change, if you could have a perfect life.
Now, when you do this, do it with this in mind: Your kids are almost out of the house. You need to set up a life for you and your husband. Not for the 4 of you. You have ignored your marriage for 17 years, because you got your beloved kids, and suddenly, your H wasn't all that necessary any more. You may not think you feel that way, but I GUARANTEE you, HE feels that way. Any man whose kids sleep in the bed he is supposed to be in feels that way.
You need to change how you live and start living like a married couple again. Or else when the kids leave, there won't be a marriage left. I have a great list I post about things you and your H can do together to shake things up, reconnect with each other, so that you both look forward to seeing each other each day. I'll post it later.
6) You need some therapy on why you allowed this situation to get this bad. And yes, kewwy, it is bad. What you describe is so unhealthy it's almost abusive. It is not normal. You need to change now, so that you have time to teach your kids a healthier, less dysfunctional way to live. But you need to understand WHY you allowed this to happen. Therapy will help you.
The easiest answer is just that you wanted the babies so much that when they came, you threw away your old life and wrapped yourself around them, and forgot you had a husband. Happens all the time. But it also nearly always ends in divorce. I can explain more if you want.
Find a counselor you can talk to. Give them your story and ask them for help in learning boundaries - with your H, with yourself, and with your kids.
7) Then you install a lock on your bedroom door if you don't already have one. Your H needs to know you are doing this. He needs to know you are setting a boundary to get the kids out and let him in. Now, before you say yuck one more time, realize this - you WANTED SF with him when you were trying to get pregnant. Now you don't? How do you think that makes him feel?
Used. Would you want to feel used?
And he was not only used, he was more or less kicked out of his own bed! Just you and the kids, having your comfy little life, while he goes to work and pays bills so you can play house with your babies.
I have to say that this angers me:
Also the nights she is not in i wouldnt dare have sex incase she comes in.
You are setting up your bedroom and living arrangements as an excuse to not have SF with your H. Why do you have the right to bail out of the marriage you promised to be part of? You really really need to start thinking about what it's going to be like when you are alone, because if you don't change things, your H is going to give up on you.
8) Finally, you need to start focusing on your H. Not you. Not your kids. Your H. The way you do that is eliminate Love Busters and meet Emotional Needs. We can talk about that in another post, if you need to. Let us know. But you HAVE to start focusing back on him. Your kids are - hopefully! - about to leave. Once they do, there has to be a reason for you and your H to stay married. As it is, I don't see one from his perspective. (That said, good work on working in the yard with him. Great first step.)