Awesome to hear you are in such a good place right now. (I can hear the soundtrack).
Climbing the mountain - great analogy
As for the kids - mine are the exact same age - and from my experience your need to protect them will only get stronger as they approach the ages of your abuse. It is a constant balancing act between freedom amd protection. A balancing act all us fathers deal with I'm sure.
You are a switched on guy and I have every faith in you that you will be able to protect them and let them enjoy the freedom to grow into teens and adults they were meant to be.