Dad, here's the one part I still don't think you are getting. Fighting for what is right for you and for your children does not mean it will end up in an ugly court battle. I really hope your L can get you to see this.
Make a list of what is important to you, what you REALLY want. Your optimal. Pie in the sky dream.
Then make a list of what your bottom line would be.
Then make a list of what you *think* are the things that she wants.
You offer your optimal (or close to it). She will counter with something stupid. Then you start negotiating it down...to what you really really want, and believe is attainable.
I REALLY wanted to find a way to buy him out of the house. Not because I like this house, I hate it, but because I KNEW if we sold it/paid off the debts I would not have enough to buy a new place for the kids and I. Anywhere. Also, I knew where I could rent, and I didn't want the kids going to school there. So that was important to me.
I also didn't want 50/50, because I KNEW he couldn't hold up his end of the bargain. I knew I'd still end up doing half the feeding and running around even if it was his time. So I wouldn't go for it.
So, those were my "hills to die on" and I got what I wanted on both. I offered to take more of the debt if he would sign off on the house. Before I did this, I talked to a mortgage broker and made sure I could make it fly and refinance in my name only.
He wanted 50/50, I said no, you can't get them after school/feed them/get them to their events. He, with the mediator, tried then to say it would still be his time, but the kids could come here after school, I could feed, take them where they need to be, then he could show up and he could PAY ME to babysit them. I growled. Literally. If they are in my house, they are in my CUSTODY. No one is paying me to babysit my own kids. I talked to him about his work schedule, the kids schedules, etc., and made him see that it wouldn't work, and that i would still have all the cost of feeding and running around. I offered him an extra overnight during the week instead of just dinners to make him see that I wasn't trying to take the kids away. Before school wasn't my issue, after school was. He agreed. Inside of 6 months, the weeknight overnights ended.
So, stop thinking that you must concede on everything or many things in order to get this done without court. Chances are, you are going to go back and forth and get it done without court. And even if you do end up in court in the end, it does not mean that it will be a big, expensive production.
One step at a time. Talk to you lawyer. Make sure they know your ultimate, and what you would consider your bottom line. Which items you aren't willing to budge on, and which can be used to negotiate with.
Could be stuff like she really wants that dining room set? Ok, she can have that but you get to keep your car without equalizing the diff between her car and yours. She doesn't like the fact that she will have to pay the top $$ of CS? Maybe you can come down 100 a month, but she takes a higher % of the extracirricular expenses, such as school, car insurance and medical expenses.
You find the things that work in your situation, and that you can give up, that won't bother you, in order to make her feel like she won something. That's how the game is played.