The feeling of feeling free is a great start. Use that feeling to start to take control of your life and how you want to live and with whom. Use that feeling to get out of this limbo you've been in.
You don't have to take every step or action we've been suggesting you in this thread all at once (that's impossible.) Make a list of things you feel you need to do (I highly advise, no, implore you, that you put consulting an attorney(s) at the top of the list.) And then work your way down the list. Heck, today all you may accomplish is making a list of things to do. If so- great that's your first step.
Kinda like Matt Damon's character in The Martian. You work one problem, accomplish one thing and then move on to the next problem or step. Adjust the list as necessary as you go. As you work the list, you'll start to feel better as you start to take control of your life. Eventually, you'll come to the fork in the road where you need to make the ultimate decision of whether to divorce or attempt R. But you need as much information as you can get to make a clear eye decision. No matter what, you should feel a hell of a lot better in your life by taking control.
Make 2 copies of the list, keep one at work in you desk/locker/wherever...another one on your phone under a password protected file.
Review the list with the attorney(s) during your initial consults, they will have advice and will tell you what documents they will need before they can initiate the divorce petition (identifiers for you, your WW and children, financial info, X# of years of past tax returns, marriage license, etc.-- add those needed documents to your list.) They will most likely have additional steps that you will need to take. Ask them about separating finances... more than likely that will be in the next few steps on your list... but this is already getting too long.
Take it one step at a time AllThatJazz.