listen to this person, OP. I don't want to be all "lOoK oN tHe BrIgHt SiDe" but I think it would help you to try to shift your perspective toward the fact that you made a change in your life to improve things for yourself and everybody in your family, and you're succeeding at it. it does no good to beat yourself up over the reasons why you made the change. you and your husband are good parents. you rearranged duties to be a better fit for what you're good at. every couple does this and it's a good thing because it's practical and makes the household run more smoothly. it's good for your kids. the house will be cleaner, things will be more peaceful, and you'll have the satisfaction of providing for them. you will still have time with them. they may miss having you at home more, but they'll adjust. it's not going to damage them (unless you and your husband are both working 60-hour weeks or have an hour-long commute or something, that might be tough for them).
whenver you catch yourself berating yourself over being bad at housework etc. then just remind yourself of those facts.
congratulations on finding your dream job, and remember to be kind to yourself.