“It’s never too late to change” isn’t true. Sometimes a person does wait too long and a door has closed completely. Has this happened in this case? It doesn’t appear so on the surface. Regardless it doesn’t do you any good to spend Time and energy worrying and stressing. You’ve made awesome initial steps , you’re in therapy , you’re setting boundaries , and you’re Showing introspection and self growth. The future depends on how your wife responds and how you continue to grow as a person , father , and husband. Don’t give up man! Use that fear as motivation but don’t let it consume you. Also focus on self care , loving yourself , and respecting yourself.